Kuka KR C2 - Table of Contents

3 / 157V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
Contents
1 Introduction ...................................................................................................... 9
1.1 Target group ................................................................................................................... 9
1.2 Robot system documentation ......................................................................................... 9
1.3 Representation of warnings and notes ........................................................................... 9
1.4 Terms used ..................................................................................................................... 9
2 Product description ......................................................................................... 11
2.1 Overview of the robot system ......................................................................................... 11
2.2 Overview of the robot controller ...................................................................................... 11
2.3 Description of the control PC .......................................................................................... 12
2.3.1 PC interfaces .............................................................................................................13
2.3.2 PC slot assignment .................................................................................................... 14
2.3.3 Motherboard .............................................................................................................. 15
2.3.4 Hard drive .................................................................................................................. 16
2.3.5 CD-ROM drive (optional) ........................................................................................... 16
2.3.6 Floppy disk drive (optional) ........................................................................................ 16
2.3.7 Multi-function card (MFC3) ........................................................................................ 16
2.3.8 Digital servo-electronics (DSE-IBS-C33) ................................................................... 18
2.3.9 KUKA VGA card (KVGA) ........................................................................................... 18
2.3.10 Batteries .................................................................................................................... 19
2.4 Description of the KUKA Control Panel (KCP) ............................................................... 19
2.4.1 Front view .................................................................................................................. 20
2.4.2 Rear view ................................................................................................................... 21
2.5 KCP coupler (optional) .................................................................................................... 21
2.6 Electronic Safety Circuit (ESC) safety logic .................................................................... 23
2.6.1 ESC nodes ................................................................................................................ 24
2.6.2 Overview of CI3 boards ............................................................................................. 25
2.6.3 CI3 Standard board ................................................................................................... 26
2.6.4 CI3 Extended board ................................................................................................... 28
2.6.5 CI3 Bus board ............................................................................................................ 29
2.6.6 CI3 Tech board .......................................................................................................... 31
2.7 Description of the power unit .......................................................................................... 32
2.7.1 Power supply unit KPS 600 ....................................................................................... 33
2.7.2 Fuses ......................................................................................................................... 35
2.7.3 Low-voltage power supply KPS-27 ............................................................................ 36
2.7.4 KUKA Servo Drive (KSD) .......................................................................................... 36
2.7.5 Mains filter ................................................................................................................. 38
2.8 Cabinet cooling ............................................................................................................... 38
2.9 Description of interfaces ................................................................................................. 39
2.9.1 Power supply connection X1/XS1 .............................................................................. 40
2.9.2 KCP connector X19 ................................................................................................... 42
2.9.3 Motor connector X20, axes 1 to 6 .............................................................................. 43
2.9.4 Motor connector X7 (optional) ................................................................................... 44
2.9.5 Data cable X21, axes 1 to 8 ....................................................................................... 45
2.10 Description of the mounting plate for customer components (optional) .......................... 45
Contents