Kuka KR C4 compact - Page 44

44 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
1. Align the TCP with a freely selected point. The point serves as a reference
point.
 The point must be located so that reorientation is possible.
 The point must not be located on the Z axis of the FLANGE coordinate
system.
2. Move the TCP manually at least 45° once in each of the A, B and C direc-
tions.
The movements do not have to be accumulative, i.e. after motion in one
direction it is possible to return to the original position before moving in the
next direction.
The practical test is passed if the TCP does not deviate from the reference
point by more than 2 cm in total.
For palletizing robots:
Palletizing robots, in this case, are either robots that can be used only as pal-
letizers from the start or robots operated in palletizing mode. The latter must
also be in palletizing mode during the practical test.
First part:
1. Mark the starting position of the TCP.
Also read and note the starting position from the Actual position – Car-
tesian display on the smartHMI.
2. Jog the TCP in the X direction. The distance must be at least 20% of the
robot’s maximum reach. Determine the exact length via the Actual posi-
tion display.
3. Measure the distance covered and compare it with the distance value dis-
played on the smartHMI. The deviation must be < 5%.
4. Repeat steps 1 and 2 for the Y direction and Z direction.
The first part of the practical test is passed if the deviation is < 5% in every di-
rection.
Second part:
 Rotate the tool manually about A by 45°: once in the plus direction, once
in the minus direction. At the same time, observe the TCP.
The second part of the practical test is passed if the position of the TCP in
space is not altered during the rotations.
Practical test for
axes that are not
mathematically
coupled
If practical tests are required for the machine data, this test must be carried out
when axes are present that are not mathematically coupled.
1. Mark the starting position of the axis that is not mathematically coupled.
Also read and note the start position from the Actual position display on
the smartHMI.
2. Move the axis manually by a freely selected path length. Determine the
path length from the Actual position display.
 Move linear axes a specific distance.
 Move rotational axes through a specific angle.
3. Measure the length of the path covered and compare it with the value dis-
played on the smartHMI.
The practical test is passed if the values differ by no more than 5%.
4. Repeat the test for each axis that is not mathematically coupled.
Practical test for
robot on KUKA
linear unit
If practical tests are required for the machine data, this test must be carried out
if the robot and KL are mathematically coupled.
 Move the KL manually in Cartesian mode.
The practical test is passed if the TCP does not move at the same time.