Kuka KR C4 compact - 3.3.2 Cabinet Control Unit, Small Robot

13 / 93Issued: 20.04.2018 Version: Spez KR C4 compact V10
3 Product description
 Motherboard
 Processor
 Heat sink
 Memory modules
 Hard drive
 LAN Dual NIC network card (not present on all motherboard variants)
 Optional modules, e.g. field bus cards
Functions The control PC (KPC) is responsible for the following functions of the robot
controller:
 Graphical user interface
 Program creation, correction, archiving, and maintenance
 Sequence control
 Path planning
 Control of the drive circuit
 Monitoring
 Safety equipment
 Communication with external periphery (other controllers, host computers,
PCs, network)
3.3.2 Cabinet Control Unit, Small Robot
Description The Cabinet Control Unit, Small Robot (CCU_SR) is the central power distrib-
utor and communication interface for all components of the robot controller.
The CCU_SR consists of the Cabinet Interface Board, Small Robot (CIB_SR)
and the Power Management Board, Small Robot (PMB_SR). All data are
transferred via this internal communication interface to the controller for further
processing. If the mains voltage fails, the control components continue to be
powered by batteries until the position data are saved and the controller has
shut down. The charge and quality of the batteries are checked by means of
a load test.
The CCU_SR also incorporates sensing, control and switching functions. The
output signals are provided as electrically isolated outputs.
Functions
 Communication interface for the components of the robot controller
 Safe inputs and outputs
 Contactor activation
 4 floating outputs
 9 safe inputs
 Teach pendant plugged in
 Mastering test
 6 Fast Measurement inputs for customer applications
 Fan power supply monitoring
 Temperature sensing:
 Control box internal temperature
 The following components are connected to the KPC via the KUKA Con-
troller Bus:
 Drive box
 Resolver digital converter
 The following operator panels and service devices are connected to the
control PC via the KUKA System Bus:
 KUKA Operator Panel Interface