User Manuals: Kuka KR C2 edition05 Robotic Controller

Manuals and User Guides for Kuka KR C2 edition05 Robotic Controller. We have 1 Kuka KR C2 edition05 Robotic Controller manual available for free PDF download: Operating Instructions Manual

Kuka KR C2 edition05 Operating Instructions Manual

Kuka KR C2 edition05 Operating Instructions Manual (157 pages)

Brand: Kuka | Category: Controller | Size: 5 MB

Table of Contents

Table of Contents
3
1 Introduction

9
2 Product Description

11
- Overview of the Robot System
  11
- Overview of the Robot Controller
  11
- Description of the Control PC
  12
- PC Interfaces
  13
- PC Slot Assignment
  14
- Motherboard
  15
- Hard Drive
  16
- CD-ROM Drive (Optional)
  16
- Floppy Disk Drive (Optional)
  16
- Multi-Function Card (MFC3)
  16
- Digital Servo-Electronics (DSE-IBS-C33)
  18
- KUKA VGA Card (KVGA)
  18
- Batteries
  19
- Description of the KUKA Control Panel (KCP)
  19
- Front View
  20
- Rear View
  21
- KCP Coupler (Optional)
  21
- Electronic Safety Circuit (ESC) Safety Logic
  23
- ESC Nodes
  24
- Overview of CI3 Boards
  25
- CI3 Standard Board
  26
- CI3 Extended Board
  28
- CI3 Bus Board
  29
- CI3 Tech Board
  31
- Description of the Power Unit
  32
- Power Supply Unit KPS600
  33
- Fuses
  35
- Low-Voltage Power Supply KPS-27
  36
- KUKA Servo Drive (KSD)
  36
- Mains Filter
  38
- Cabinet Cooling
  38
- Description of Interfaces
  39
- Power Supply Connection
  40
- KCP Connector X19
  42
- Motor Connector X20, Axes 1 to 6
  43
- Motor Connector X7 (Optional)
  44
- Data Cable X21, Axes 1 to 8
  45
- Description of the Mounting Plate for Customer Components (Optional)
  45
3 Technical Data

47
4 Safety

53
- System Planning
  53
- EC Declaration of Conformity and Declaration of Incorporation
  53
- Installation Site
  53
- External Safeguards
  53
- Workspace, Safety Zone and Danger Zone
  54
- Description
  55
- Category of the Safety-Oriented Circuits
  55
- Stop Reactions
  55
- Labeling on the Robot System
  56
- Safety Information
  56
- Safety Features
  57
- Overview of the Safety Features
  57
- ESC Safety Logic
  57
- Operator Safety Input
  57
- EMERGENCY STOP Button
  58
- Enabling Switches
  58
- Jog Mode
  59
- Mechanical End Stops
  59
- Mechanical Axis Range Limitation (Option)
  59
- Axis Range Monitoring (Option)
  60
- Software Limit Switches
  60
- Release Device (Option)
  60
- Kuka.saferobot (Option)
  61
- Personnel
  61
- Safety Measures
  62
- General Safety Measures
  62
- Transportation
  63
- Start-Up
  63
- Programming
  64
- Automatic Mode
  64
5 Planning

65
6 Transportation

77
7 Start-Up

79
8 Operation

85
9 Maintenance

87
- Maintenance Table
  87
- Cleaning the Robot Controller
  88
10 Repair

89
11 Troubleshooting

103
- Repair and Procurement of Spare Parts
  103
- PC Fault Profiles
  103
- MFC3 Error Messages
  105
- KCP Error Messages
  105
- Field Bus Communication Error Messages
  106
- Fuses and LED Indicators on the CI3 Board
  106
- CI3 Standard Board
  106
- CI3 Extended Board
  108
- CI3 Bus Board
  109
- CI3 Tech Board
  110
- KPS 600 Fuses, Messages and Error Displays
  112
- Error Messages
  115
- Error Messages on the KSD
  115
- KCP Coupler LED Display (Optional)
  117
- KCP Coupler Troubleshooting
  119
- DSE-RDW Diagnosis
  120
- Description of the User Interface
  120
- Setting the Language
  121
- MFC3 Register Display
  121
- DSE IBS Information
  122
- RDC Table
  123
- RDC Offset and Symmetry Adjustment
  124
- Check RDC-DSE Communication
  125
- Drive Bus Diagnostics
  127
- Drive Bus Error List
  128
- Drive Bus - KPS
  128
- Drive Bus - KSD-16
  130
- KPS600 Error Messages
  131
- KSD Error Messages
  132
- ESC Diagnosis
  132
- User Interface
  132
- Log File
  133
- ESC Circuit Reset
  133
- Terminating ESC Diagnosis
  133
- State Display of the ESC Nodes
  134
- Error Display of the ESC Nodes
  135
- Displaying All Status Bits
  136
- Configuring Controllers
  137
- Configuring the Controller Properties
  138
- Configuring ESC Nodes
  139
- Selecting the Display for Signals
  140
- Selecting the Properties of the ESC Node
  141
- Assigning ESC Nodes to a Controller
  142
- Error Messages and Troubleshooting
  142
12 Appendix

145
13 KUKA Service

147
- Requesting Support
  147
- KUKA Customer Support
  147
Index

153

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