pdf文档kuka各版本随机文档4 1版introduction

1、SOFTWARE / HARDWAREKR C.IntroductionKUKA System Software (KSS)Einleitung 03.02.03 en1 of 17e Copyright KUKA Roboter GmbHThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this

2、 documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded

3、, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions.Subject to technical alterations without an effect on the function.PD InterleafEinleit

4、ung 03.02.03 en2 of 17Contents1KUKA Roboter GmbH .522.12.2Service . . . . . . Procedure for dealing with queries or problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .KUKA international . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5、 . . . . . . . . . . . . . . . . . .7710.23.43.5About this documentation . . . . General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Available documentation . . . . . . . . . . . . . . . . . . .

6、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Meaning of symbols, words and icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7、. . . . . . . . .Other information and symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Meaning of the font styles used in this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Your opinion counts! . . . . . . . . .

8、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13131314141415164Stop press . . . . . . 17Einleitung 03.02.03 en3 of 17IntroductionEinleitung 03.02.03 en4 of 171KUKA Roboter GmbH1KUKA RoboterGmbHKUKA Roboter GmbH, a subsidiary of IWKA Aktiengesell

9、schaft, is a leading manufacturer of industrial robots. The companys core competencies are the development, production and sale of industrial ro- bots, controllers, software and linear units, as well as customer support.Augsburg Factory SiteEinleitung 03.02.03 en5 of 17IntroductionEinleitung 03.02.0

10、3 en6 of 172Service22.1ServiceProcedure for dealing with queries or problemsIf any questions or problems arise while using the robot or the KCP (KUKA Control Panel), please first try to solve them with the aid of these operating instructions.Should this not bring the desired success, please contact

11、one of our Service Centers. So that the situation can be resolved easily and quickly, it is advisable for you to be at the robot with access to the KCP when you call.You should also have the following information at hand:G The robots serial numberYou will find this on the robots identification plate

12、, which is attached to the rotating column axis 1 (see the following illustration).Serial numberGThe control cabinets serial numberIn the KR C1, the number is located on the right-hand side of the control cabinet (see the following illustration).Serial numberEinleitung 03.02.03 en7 of 17Introduction

13、n the KR C2, the serial number is located on the bottom right-hand side of the cabinet interior. If, as is the case in the illustration, the control cabinet is fitted with a cover for the connector panel, this cover must be opened in order to access the label.Serial numberConnector panel coverIn the

14、 KR C3, the serial number is located on the right-hand side above the computer drives.Serial numberEinleitung 03.02.03 en8 of 172Service (continued)G Version number of the installed softwareThe version number of the installed software is called up on the display when you press the menu key “Help” on

15、 the operational teach pendant and then, using the “ ” arrow key, select the menu option “Info” from the menu that is opened.Version numbersThe following information is also useful for technical assistance of our products:GG Ga description of the problem, as detailed as possible;a description of the

16、 attempts so far to solve the problem;the number, originator and exact wording of the messages displayed in the message window;the log files in the directory “C:KRCRoboterLog”.GEinleitung 03.02.03 en9 of 17 Introductio n2.2KUKA internationalADBEBRCEinleitung 03.02.03 en10 of17SwitzerlandKUKA Roboter

17、 Schweiz AGRiedstrasse 7CH-8953 DietikonTel.:+41-17 / 44 90 90Fax:+41-17 / 44 90 91E-Mail:infokuka-roboter.chInternet:http:/www.kuka-roboter.chFFranceKUKA Automatisme + Robotique SASTechvalle6, Avenue du ParcF - 91140 Villebon S/YvetteTel.:+33-1 / 69 31 6600Fax:+33-1 / 69 31 6601E-Mail:commercialkuk

18、a.frInternet:http:/www.kuka.frBrazilKUKA Roboter do Brasil Ltda. Rua Dom Feliciano No 63 Cidade SatliteGuarulhosCEP 07224 240So Paulo SP BrasilTel.:+55-11 / 64 11 20 21Fax:+55-11 / 64 11 15 65E-Mail:.brSpainKUKA Sistemas de Automatizacin, S.A.Pol. Industrial Torrent de la Pastera

19、 Carrer del Bages s/nE - 08800 Vilanova i La Geltr (Barcelona)Tel.:+34-93 / 814 2353Fax:+34-93 / 814 2950E-Mail:Internet:BelgiumKUKA Automatisering + Robots N.V.Centrum Zuid 1031 B - 3530 HouthalenTel.:+32-11 / 51 61 60Fax:+32-11 / 52 67 94E-Mail:infokuka.beIn

20、ternet:http:/www.kuka.beGermanyKUKA Roboter GmbHBlcherstrasse 144 D - 86165 AugsburgTel.:+49-821 / 797 - 40 00Fax:+40-821 / 797 - 16 16E-Mail:infokuka-roboter.deInternet:http:/www.kuka-roboter.deService-Sttzpunkt:KUKA Roboter GmbHBlcherstrasse 144 D - 86165 AugsburgTel.:0190 / 88 19 26Fax:+49-821 /

21、797 - 16 16AustriaKUKA Roboter GmbH Vertriebsbro sterreich Regensburger Strasse 9/1 A - 4020 LinzTel.:+43-732 / 78 4752Fax:+43-732 / 79 3880E-Mail:officekuka-roboter.atInternet:http:/www.kuka-roboter.at2Service (continued)HPIPRCMALROKRUSMEXEinleitung 03.02.03 en11 of 17MexikoKUKA de Mexico S. de R.L

22、. de C.V. Rio San Joaquin #339, Local 5 Colonia Pensil SurC.P. 11490 Mexico D.F.Tel.:+52-55 / 52 03 84 07Fax:+52-55 / 52 03 81 48E-Mail:.mxRussiaKUKA-VAZ Engineering445633 TogliattiJushnoje Chaussee, 36 VAZ, PTOTel.:+7-84 82 / 39 1249/ 37 05 64Fax:+7-84 82 / 73 6730Tx:+7-21 41 06E-Mail:Y

23、.Klychkovvaz.ruKoreaKUKA Robot Automation Korea, Co. Ltd.4 Ba 806 Sihwa Ind. Complex Sung-Gok Dong, Ansan City Kyunggi Do, 425-110 KoreaTel.:+82-31 / 496 9937/ 496 9938Fax:+82-31 / 496 9939E-Mail:MalaysiaKUKA Robot Automation Sdn BhdSouth East Asia Regional Office 24, Jalan TPP 1/10

24、,Taman Industri Puchong 47100 Puchong Selangor, MalaysiaTel:+60-3 / 80 61 - 06 13/ 80 61 - 06 14Fax:+60-3 / 80 61 - 73 86E-Mail:kukamalaysiapo.jaring.myChinaKUKA Automation Equipment (Shanghai) Co.,Ltd.Part B, Ground Floor, No. 211 Fu te Road (North) Waigaoqiao Free Trade Zone Shanghai 200 131, Chin

25、aTel.:+86-21 / 58 66 51 39Fax:+86-21 / 58 66 75 71E-Mail: ItalyKUKA Roboter Italia S.p.A.Via Raimondo, 40/B I - 10098 Rivoli (TO)Tel.:+39-0 11 / 959 50 13Fax:+39-0 11 / 959 51 41E-Mail:kukakuka.itInternet:http:/www.kuka.itPortugalKUKA Sistemas de Automatizacin S.A.(Sucursa

26、l em Portugal)Av. Alexandro Herculano 75 P - 2955 Pinhal Novo PortugalTel.:+351-21 / 238 8083Fax:+351-21 / 238 8086E-Mail:kukamail.telepac.ptHungaryKUKA Robotics Hungaria Kft. 2335 TaksonyF t 140Tel.:+36-24 / 52 06 00Fax:+36-24 / 47 70 31E-Mail:infokuka-robotics.hu Introductio nUSASTWNTHAUEinleitung

27、 03.02.03 en12 of 17KUKKUKA Welding Systems + Robot Ltd.Hereward Rise, HalesowenUK-West Midlands B62 8AN GBTel.:+44-121 / 58 50 800Fax:+44-121 / 58 50 900E-Mail:saleskuka.co.ukThailandKUKA Robot Automation (M) Sdn BhdThailand Office98 Athakravi Building, 2nd floorSoi Sukhumvit 26, Sukhumvit Road Klo

28、ngton, KlongtoeyBangkok 10110/ThailandTel.:+66-2 / 6 61 24 44Fax:+66-2 / 6 61 23 55E-Mail:Internet:http:/www.kuka-roboter.deKUKA Robot AutomationCo., Ltd.No. 11, Lane 526 Sec 2, Chung San East RoadChung-Li City, Taoyuan HsienTel.:+886-3 / 437 1902Fax:+886-3 / 466 6651E-Mail:csc6666ms2

29、2.U.S.A.KUKA Robotics Corp. 6600 Center Drive Sterling Heights Michigan 48 312 USATel.:+1-586 / 795 9090Fax:+1-586 / 978 4871E-Mail:Internet:KUKA Development Laboratories 2619 Product Drive, Suite 106 Rochester Hills, MI 48309USA-MichiganTel.:+1

30、-248 / 844-05 00Fax:+1-248 / 853-07 07Internet:SwedenPostal address:KUKA Svetsanlggningar + Robotar ABA. Odhners gata 15S-42130 Vstra FrlundaTel.:+46-31 / 72 66 200Fax:+46-31 / 45 08 96E-Mail:infokuka.seDelivery address:KUKA Svetsanlggningar + Robotar ABBeatrice Lesslies gat

31、a 14 S - 42131 Vstra Frlunda3About this documentation3About this documentation3.1General informationWith the new KR C. controller you will receive these operating instructions. Here you will find the necessary documentation for the robot system and the hand programming unit “KCP” (KUKA Control Panel

32、). In addition, the graphical user interface is clearly explained by means of practical instructions, examples and tips. This documentation is designed to help you work more easily, effectively and safely with the robot.There are usually several means of achieving a particular end. The procedures de

33、scribed in these operating instructions generally show a way that experience has found to be optimal.Please note:When creating this documentation, great care has been taken to ensure conformity with the current hardware and software. Discrepancies cannot always be precluded, however, for which reaso

34、n total conformity can unfortunately not be guaranteed. The contents are checked on a regular basis, though, and any identified discrepancies immediately corrected (see also Section 3.5).In addition to the functions described in this handbook (e.g. menu options, function keys, etc.), further operato

35、r control possibilities that are not documented may be available. The proper, problem-free operation of such non-documented functions can unfortunately not, however, be guaranteed.For emphasizing important, often safety-relevant, text passages, various symbols and words are displayed on the left-han

36、d side of the page. For descriptions of procedures and individual job steps, you will also find in this area illustrations of function keys and menu options. These illustrations are used to facilitate rapid visual assignment of the functions on the graphical user interface.3.2Available documentation

37、A flexible robot system requires a comprehensive set of operating instructions. In addition to the supplied software documentation, there are other handbooks available covering a range of additional topics. Due to the complexity of these subject areas, these handbooks are issued in conjunction with

38、training courses provided by KUKA Roboter GmbH.Einleitung 03.02.03 en13 of 17HandbookTopicOperator control*Basic robot programmingProgramming*Advanced robot programmingElectrical ServicingDescription, maintenance and servicing of the robot system* Delivered with the systemIntroductionMeaning

39、 of symbols, words and iconsSafety instructions3.3.2Other information and symbolsThe “EXAMPLE” pictogram is found near descriptions and illustrations of practical exam- ples that users themselves can try out on the robot.within the section or block shown, the changes or entries described should or m

40、ust be made.within the section or block shown, no changes or entries should or may be made.Einleitung 03.02.03 en14 of17.cross-reference to other sections or chapters in the handbook containing further information and explanations.ExampleDetailed information on the function of the “Space Mouse” may

41、be found in the chapterJogging the rmation which is of particular significance or is useful for greater understanding.The “TIP” symbol indicates text passages containing recommendations and advice, the observance of which generally serves to facilitate the work concerned.The “NOTE” icon is

42、 used to emphasize general or additional information on a certain theme, or draws attention to particular features and procedures for facilitating the work concerned.The “CAUTION” symbol is used where failure to fully and accurately observe operating instructions, work instructions, prescribed seque

43、nces and the like could result in damage to the robot system.This symbol is used where failure to fully and accurately observe operating instruc- tions, work instructions, prescribed sequences and the like could result in injury or a fatal accident.3About this documentation (continued)The following

44、terms are used in cross-references in this handbook:GGHandbookMain chapterRefers to another handbook, abbreviation HB;Each handbook consists of several main chapters, e.g. Introduction or Safety, abbreviation MC.;Division of a main chapter, e.g. KUKA Roboter GmbH or About this documentation, abbrevi

45、ation Ch.;Subdivision of a chapter, such as General information or Available documentation, abbreviation Section;Subdivision of a section, e.g. “Safety symbols”.GChapterGSectionGunder.refers to a program key (menu key or softkey) that can be pressed on the KCP, with the appropriate appearing on the display.refers to a menu function. Press the corresponding menu key on the KCP and select the relevant submenu.3.4Meaning of the font styles used in this documentation