kr-c2 introduction
TRANSCRIPT
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PRODUCT DOCUMENTATION
(V)KR... / (V)KR C... / KL...
Introduction
Issued: 16 Nov 2004 Version: 00
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e Copyright 2004
KUKA Roboter GmbHZugspitzstr. 140D--86165 Augsburg
Thisdocumentation or excerpts therefrom may notbe reproduced or disclosed to third parties without theexpress permission of thepublishers.Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, inthe case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepanciescannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on aregular basis, however, andnecessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effecton the function.
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Contents
1 Foreword 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 How to use this documentation 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Safety symbols 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Icons 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Text styles 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Cross references 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Service requests 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Device type and serial number 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Software version numbers 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 We value your opinion 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Service centers 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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1 Foreword
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1 Foreword
This document is part of the operating instructions.
The KUKA Robot Group documentation is there to assist you in the following areas:
G Working with the products from the KUKA Robot Group
G Working with the product documentation
G Help with service requests
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2 How to use this documentation
The KUKA Robot Group documentation contains:
G Safety symbolsG Icons
G Text styles
2.1 Safety symbols
Text passages indicated by the following safety symbols are relevant to safety and must beobserved.
WARNING
Following these safety warnings carefully can prevent personal injury.
CAUTION
Following these safety warnings carefully can prevent material damage.
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2.2 Icons
Text passages indicated by the following icons facilitate handling of the robot system.
NOTE
Indicates special features for particular attention.
Tip
Indicates recommendations and advice to make your work easier.
See also
Indicates sections or chapters containing further information and explanations.
Info
Indicates passages which are of particular significance or are useful for greater under-standing.
ExampleIndicates practical examples that can be implemented in the robot system.
Modifications or entries required
Indicates process steps requiring operator entries.
Modifications or entries not permissible
Indicates process steps in which operator entries are not permissible.
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2.3 Text styles
Font style Meaning
Text in [square brackets] Indicates cross references
Text in quotation marks Indicates softkeys, status keys, keys and boxes(e.g. in forms)
Bold Indicates particular features
Serif Indicates extracts from program listings
Italics Explain program listings
Serif bold or underlined Indicates operator entries in program listings
2.4 Cross references
The following cross reference designations are used in the documentation:
G Handbook (HB) refers to another handbook in the operating instructions.Example: [HB: Robot].
G Main chapter (MC) refers to a main chapter within a handbook.Example: [MC: Introduction].
G Chapter (Ch.) refers to a subdivision of a main chapter.
Example: [Ch.: How to use this documentation].G Section refers to a subdivision of a chapter.
Example: [Section: Safety symbols].
... instructs the operator to press a program key (menu key or softkey) on the KCP.The currently valid function of the key is displayed on the screen.
... instructs the operator to press a menu key and a submenu key on KCP.
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3 Service requests
The KUKA Robot Group documentation offers a wealth of information on operation andprovides assistance with troubleshooting.
Your local service center is available at all times to deal with any service requests goingbeyond the scope of this documentation (see Section 3.4).
You should report any faults to the service center responsible within one hour of theiroccurrence.
The following information is required for processing a service request:
G Model and serial number of the robot
G Model and serial number of the linear unit (optional)
G Model and serial number of the controller
G Version numbers of the software
G Memory dump (archive) from the controller
G Application used
G External axes used
G Description of the problem, duration and frequency of the fault
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3.1 Device type and serial number
Check the type and serial number of all affected system parts using the identification plates.The identification plates are located in the following positions:
Fig. 1 Robot identification plate
Fig. 2 Linear unit identification plate
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Fig. 3 (V)KR C2 control cabinet identification plate
Fig. 4 KR C3 (table version) controller identification plate
Fig. 5 KR C3 (rack version) controller identification plate
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3.2 Software version numbers
Theversion numbers of the software are displayed on the KCP screen by pressing the menukey Help/Info.
Fig. 6 Version numbers of the software
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3.3 We value your opinion
These operating instructions have been carefully tailored to the product they accompany.Despite regular checks, errors cannot be entirely precluded.
For this reason, we cannot guarantee that this documentation is totally free from errors.
If you have any questions about the documentation (suggestions, corrections), please sendthem to one of the following addresses:
Fax: +49 821 797 1087e--mail: [email protected]
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3.4 Service centers
Tel.: +55--11 / 64 13 49 00
Fax: +55--11 / 64 11 15 65
E--Mail: [email protected]
KUKA Roboter do Brasil Ltda.
Rua Dom Feliciano no 63
Cidade Satlite, Guarulhos
CEP 07224 240
So Paulo, SP Brasil
Tel.: +32--11 / 51 61 60
Fax: +32--11 / 52 67 94
E--Mail: [email protected]
Internet: http://www.kuka.be
Belgium
KUKA Roboter GmbH
Vertriebsbro sterreich
Regensburger Strasse 9/1
A -- 4020 Linz
Tel.: +43--732 / 78 47 52
Fax: +43--732 / 79 38 80
E--Mail: [email protected]
Internet: http://www.kuka--roboter.at
Austria
KUKA Automatisering + Robots N.V.
Centrum Zuid 1031
B -- 3530 Houthalen
Belgium
Brazil
Tel.: +33--1 / 69 31 66 00
Fax: +33--1 / 69 31 66 01
E--Mail: [email protected]
Internet: http://www.kuka.fr
KUKA Automatisme + Robotique SAS
Techvalle
6, Avenue du Parc
F -- 91140 Villebon s/Yvette
France
KUKA Automation Equipment
(Shanghai) Co.,Ltd.
Part B, Ground Floor, No. 211, Fu te Road (North)
Waigaoqiao Free Trade Zone
Shanghai 200 131, China
Tel.: +86--21 / 58 66 51 39
Fax: +86--21 / 58 66 75 71
E--Mail: [email protected]
China
Tel.: 0190 / 88 19 26
Fax: +49--821 / 797 -- 10 87
E--Mail: [email protected]
Internet:: www.kuka--roboter.de
GermanyService--Sttzpunkt:
KUKA Roboter GmbH
Zugspitzstrae 140
D -- 86165 Augsburg
Ruben Costantini S. A. (Agency)
Luis Angel Huergo 13 20Parque Industrial
2400 San Francisco (CBA), Argentina
Tel.: +54--35 64 / 42 10 33
Fax: +54--35 64 / 42 88 77E--Mail: [email protected]
Argentina
Marand Precision Engineering Pty. Ltd (Agency)
153 Keys Road
Moorabbin, Victoria 31 89
Australia
Tel.: +61--3 / 85 52 06 00
Fax: +61--3 / 85 52 06 05
E--Mail: [email protected]
Australia
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3 Service requests (continued)
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Tel.: +36--24 / 50 16 09
Fax: +36--24 / 47 70 31
E--Mail: [email protected]
KUKA Robotics Hungaria Kft.
2335 Taksony
F t 140
Hungary
Tel.: +39--0 11 / 959 50 13
Fax: +39--0 11 / 959 51 41
E--Mail: [email protected]
Internet: http://www.kuka.it
KUKA Roboter Italia S.p.A.
Via Pavia 9/a -- int. 6
I -- 10098 Rivoli (TO)
Italy
Sieflex Robotics (Agency)
54, Industrial Estate, Ambattur
Madras -- 600 058
India
Tel.: +91 (44) / 624 14 12
Fax: +91 (44) / 26 25 87 57
E--Mail: [email protected]
India
KUKA Sistemas de Automatizacin S.A.Urbanizao do Vale do Alecrim, Lote 115--B
2950 Palmela, Portugal
Tel.: +351--21 / 238 80 83Fax: +351--21 / 238 80 86
E--Mail: [email protected]
KUKA de Mexico S. de R.L. de C.V.
Rio San Joaquin #339, Local 5
Colonia Pensil Sur
C.P. 11490 Mexico D.F.
Tel.: +52--55 / 52 03 84 07Fax: +52--55 / 52 03 81 48
E--Mail: [email protected]
KUKA Robot Automation Sdn Bhd
South East Asia Regional Office
24, Jalan TPP 1/10, Taman Industri Puchong
47100 Puchong, Selangor, Malaysia
Tel: +60--3 / 80 61--06 13
/ 80 61--06 14
Fax: +60--3 / 80 61--73 86
E--Mail: [email protected]
Malaysia
Mexico
Portugal
KoreaKUKA Robot Automation Korea, Co. Ltd.
4 Ba 806 Sihwa Ind. Complex
Sung--Gok Dong, Ansan City
Kyunggi Do, 425--110 Korea
Tel.: +82--31 / 496--99 37
/ 496--99 38
Fax: +82--31 / 496--99 39
E--Mail: [email protected]
KUKA Svetsanlggningar +
Robotar AB Avd. Norway
Hadelandsveien 2
Postbox 17
NO--2801 Gjvik, Norway
Tel.: +47--61 / 13 34 22
Fax: +47--61 / 18 62 00
E--Mail: [email protected]
Norway
KUKA--VAZ Engineering
445633 Togliatti
Jushnoje Chaussee, 36 VAZ, PTO
Tel.: +7--84 82 / 39 12 49
/ 37 05 64
Fax: +7--84 82 / 73 67 30
Tx: +7--21 41 06
E--Mail: [email protected]
Russia
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KUKA Robotics Corp.
22500 Key Drive
Clinton Township
Michigan 48 036 USA
Tel.: +1--866 / 873 58 52
Fax: +1--(586) / 569 20 87
E--Mail: [email protected]
Internet: http://www.kukarobotics.com
KUKA Welding Systems + Robot Ltd.
Hereward Rise, Halesowen
UK--West Midlands B62 8AN GB
Tel.: +44--121 / 58 50 800
Fax: +44--121 / 58 50 900
E--Mail: [email protected]
KUKA Robot Automation (M)Sdn Bhd
Thailand Office
c/o Maccall System Co. Ltd.
49/9--10 Soi Kingkaew 30, Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn, 10540 Thailand
Tel.: +66--2 / 750 27 37
Fax: +66--2 / 661 23 55
E--Mail: [email protected]
Internet: http://www.kuka--roboter.de
Thailand
U.K.
U.S.A.
KUKA Robot Automation Taiwan Co., Ltd.
136, Section 2,
Huanjung E. Road
Jungli City, Taoyuan, Taiwan 320
Tel.: +886--3 / 437 19 02
Fax: +886--3 / 283 00 23
E--Mail: [email protected]
Internet: www.kuka.com.tw
Taiwan
Tel.: +34--93 / 814 23 53
Fax: +34--93 / 814 29 50
E--Mail: [email protected]
Internet: http://www.kuka--e.com
KUKA Sistemas de Automatizacin, S.A.
Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
E -- 08800 Vilanova i La Geltr (Barcelona)
Spain
Tel.: +46--31 / 72 66 200
Fax: +46--31 / 72 66 201
E--Mail: [email protected]
KUKA Svetsanlggningar + Robotar AB
A. Odhners gata 15
S--42130 Vstra Frlunda
Sweden
Tel.: +41--17 / 44 90 90
Fax: +41--17 / 44 90 91
E--Mail: [email protected]
Internet: http://www.kuka--roboter.ch
KUKA Roboter Schweiz AG
Riedstrasse 7
CH--8953 Dietikon
Switzerland
Jendamark Automation LTD (Agency)
76a York Road, North End
Port Elizabeth 6000
South Africa
Tel.: +27--41 / 391 47 00
Fax: +27--41 / 373 38 69
Internet: http://www.jendamark.co.za
South Africa
1
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Index
Index -- i
A
Application, 9
B
Bold, 8
C
Caution, 6
Ch., 8
Controller, 9
Controller serial number, 9
Cross reference
Ch., 8
HB, 8
MC, 8
Section, 8
Cross references, 8
D
Description of the problem, 9
Device type, 10
E
Example, 7
External axes, 9
F
Foreword, 5
Frequency of the fault, 9
H
HB, 8Help with service requests, 5
How to use this documentation, 6
I
Icons, 6, 7
Example, 7
Info, 7
Modifications or entries not permissible, 7Modifications or entries required, 7
Note, 7
See also, 7
Tip, 7
Identification plate
KR C3, 11
Linear unit, 10
Robot, 10
Identification plates, 10
Info, 7Italics, 8
K
KUKA Robot Group, 5
L
Linear unit, 9
M
Material damage, 6
MC, 8
Memory dump, 9
Menu key, 8
Modifications or entries not permissible, 7
Modifications or entries required, 7
N
Note, 7
P
Personal injury, 6
Program key, 8
Q
Quotation marks, 8
R
Robot serial number, 9
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Index
S
Safety symbols, 6
Caution, 6
Warning, 6
Section, 8See also, 7
Serial number, 10Serif, 8Serif bold, 8Service centers, 14
Service requests, 9Softkey, 8
Software version numbers, 12Square brackets, 8
Submenu key, 8
T
Text emphasis, 6
Text styleBold, 8
Italics, 8Quotation marks, 8
Serif, 8Serif bold, 8
Square brackets, 8Text styles, 8
Tip, 7
V
Version numbers of the software, 9
W
Warning, 6
Working with the product documentation, 5