Kuka KR C2 - Page 51

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51 / 157V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en

3. Technical data

Fig. 3-4: Plates and labels

The plates may vary slightly from the examples illustrated depending on the

specific cabinet type or as a result of updates.

Main Page

Table of Contents3
Introduction9
Target Group9
Robot System Documentation9
Representation of Warnings and Notes9
Terms Used9
Product Description11
Overview of the Robot System11
Overview of the Robot Controller11
Description of the Control PC12
PC Interfaces13
PC Slot Assignment14
Motherboard15
Hard Drive16
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
Batteries19
Description of the KUKA Control Panel (KCP)19
Front View20
Rear View21
KCP Coupler (Optional)21
Electronic Safety Circuit (ESC) Safety Logic23
ESC Nodes24
Overview of CI3 Boards25
CI3 Standard Board26
CI3 Extended Board28
CI3 Bus Board29
CI3 Tech Board31
Description of the Power Unit32
Power Supply Unit KPS60033
Fuses35
Low-Voltage Power Supply KPS-2736
KUKA Servo Drive (KSD)36
Mains Filter38
Cabinet Cooling38
Description of Interfaces39
Power Supply Connection40
KCP Connector X1942
Motor Connector X20, Axes 1 to 643
Motor Connector X7 (Optional)44
Data Cable X21, Axes 1 to 845
Description of the Mounting Plate for Customer Components (Optional)45
Technical Data47
Basic Data47
KCP Coupler (Optional)48
Dimensions of Robot Controller49
Minimum Clearances, Robot Controller49
Minimum Clearances, Top-Mounted / Technology Cabinet50
Swing Range for Cabinet Door50
Plates and Labels50
Safety53
System Planning53
EC Declaration of Conformity and Declaration of Incorporation53
Installation Site53
External Safeguards53
Workspace, Safety Zone and Danger Zone54
Description55
Category of the Safety-Oriented Circuits55
Stop Reactions55
Labeling on the Robot System56
Safety Information56
Safety Features57
Overview of the Safety Features57
ESC Safety Logic57
Operator Safety Input57
EMERGENCY STOP Button58
Enabling Switches58
Jog Mode59
Mechanical End Stops59
Mechanical Axis Range Limitation (Option)59
Axis Range Monitoring (Option)60
Software Limit Switches60
Release Device (Option)60
Kuka.saferobot (Option)61
Personnel61
Safety Measures62
General Safety Measures62
Transportation63
Start-Up63
Programming64
Automatic Mode64
Planning65
Overview of Planning65
Electromagnetic Compatibility (EMC)65
Installation Conditions66
Connection Conditions67
Power Supply Connection68
Power Supply Connection Via X1 Harting Connector69
Power Supply Connection Via CEE Connector XS169
EMERGENCY STOP Circuit and Safeguard70
Interface X1171
PE Equipotential Bonding74
Planning the KCP Coupler Option75
Transportation77
Transportation Using Lifting Tackle77
Transportation by Pallet Truck78
Transportation by Fork Lift Truck78
Start-Up79
Start-Up Overview79
Installing the Robot Controller80
Connecting the Connecting Cables80
Connecting the KCP81
Connecting the PE Equipotential Bonding81
Connecting the Robot Controller to the Power Supply81
Reversing the Battery Discharge Protection Measures82
Connecting the EMERGENCY STOP Circuit and Safeguard82
Configuring and Connecting Connector X1182
Switching on the Robot Controller82
Checking the Direction of Rotation of the External Fan83
Operation85
Display and Operator Control Elements of the KCP Coupler (Optional)85
Uncoupling the KCP85
Coupling the KCP85
Booting the Robot Controller from a USB Stick86
Maintenance87
Maintenance Table87
Cleaning the Robot Controller88
Repair89
Service Jumper Plug X1189
Exchanging the Internal Fan90
Exchanging the External Fan91
Exchanging the Pressure Relief Plug91
Exchanging the PC92
Exchanging the PC Fans93
Exchanging the Motherboard Battery94
Exchanging the Motherboard94
Exchanging DIMM Memory Modules94
Exchanging the Batteries95
Removal and Installation of the CD-ROM Drive (Optional)96
Removal and Installation of the Floppy Disk Drive (Optional)97
Exchanging the Hard Drive98
Exchanging the KVGA Card98
KVGA Card Settings99
Exchanging the MFC3 Card99
Exchanging the DSE-IBS-C33 Card99
Exchanging the KPS600100
Exchanging the KPS-27100
Exchanging the KSD101
Removal and Installation of the KCP Coupler102
Installing the KUKA System Software (KSS)102
Troubleshooting103
Repair and Procurement of Spare Parts103
PC Fault Profiles103
MFC3 Error Messages105
KCP Error Messages105
Field Bus Communication Error Messages106
Fuses and LED Indicators on the CI3 Board106
CI3 Standard Board106
CI3 Extended Board108
CI3 Bus Board109
CI3 Tech Board110
KPS 600 Fuses, Messages and Error Displays112
Error Messages115
Error Messages on the KSD115
KCP Coupler LED Display (Optional)117
KCP Coupler Troubleshooting119
DSE-RDW Diagnosis120
Description of the User Interface120
Setting the Language121
MFC3 Register Display121
DSE IBS Information122
RDC Table123
RDC Offset and Symmetry Adjustment124
Check RDC-DSE Communication125
Drive Bus Diagnostics127
Drive Bus Error List128
Drive Bus - KPS128
Drive Bus - KSD-16130
KPS600 Error Messages131
KSD Error Messages132
ESC Diagnosis132
User Interface132
Log File133
ESC Circuit Reset133
Terminating ESC Diagnosis133
State Display of the ESC Nodes134
Error Display of the ESC Nodes135
Displaying All Status Bits136
Configuring Controllers137
Configuring the Controller Properties138
Configuring ESC Nodes139
Selecting the Display for Signals140
Selecting the Properties of the ESC Node141
Assigning ESC Nodes to a Controller142
Error Messages and Troubleshooting142
Appendix145
KUKA Service147
Requesting Support147
KUKA Customer Support147
Index153

Kuka KR C2 - Page 51

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