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KUKA Controller KR C2 SR Specification 手册 英文版

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bluesky1 发表于 2024-7-7 17:52:23 | 显示全部楼层 |阅读模式
机器人品牌
厂商: KUKA
Spez_KR_C2_sr_en.pdf (3.34 MB, 售价: 10 E币)
目录
1 Product description ..................................................................................... 5
1.1 Overview of the industrial robot ................................................................................. 5
1.2 Overview of the robot controller ................................................................................. 5
1.3 Description of the control PC ..................................................................................... 6
1.3.1 Riser Cage ............................................................................................................ 7
1.4 Description of the power unit ..................................................................................... 8
1.5 Description of the KUKA Control Panel (KCP) ........................................................... 9
1.5.1 Front view ............................................................................................................. 10
1.5.2 Rear view .............................................................................................................. 11
1.6 KCP coupler (optional) ............................................................................................... 11
1.7 Description of interfaces ............................................................................................ 13
1.7.1 Conveyor interface X31 (optional) ........................................................................ 14
1.7.2 Wiring example X11 .............................................................................................. 14
1.8 Category of the safety-oriented circuits ..................................................................... 15
2 Technical data .............................................................................................. 17
2.1 Dimensions ................................................................................................................ 18
3 Safety ............................................................................................................ 21
3.1 General ...................................................................................................................... 21
3.1.1 Liability .................................................................................................................. 21
3.1.2 Intended use of the industrial robot ...................................................................... 21
3.1.3 EC declaration of conformity and declaration of incorporation ............................. 22
3.1.4 Terms used ........................................................................................................... 23
3.2 Personnel ................................................................................................................... 23
3.3 Workspace, safety zone and danger zone ................................................................. 25
3.4 Triggers for stop reactions ......................................................................................... 25
3.5 Safety functions ......................................................................................................... 26
3.5.1 Overview of safety functions ................................................................................. 26
3.5.2 ESC safety logic ................................................................................................... 26
3.5.3 Mode selector switch ............................................................................................ 27
3.5.4 Operator safety ..................................................................................................... 28
3.5.5 EMERGENCY STOP device ................................................................................ 29
3.5.6 External EMERGENCY STOP device .................................................................. 29
3.5.7 Enabling device .................................................................................................... 30
3.6 Additional protective equipment ................................................................................. 30
3.6.1 Jog mode .............................................................................................................. 30
3.6.2 Software limit switches ......................................................................................... 31
3.6.3 Labeling on the industrial robot ............................................................................. 31
3.6.4 External safeguards .............................................................................................. 31
3.7 Overview of operating modes and safety functions ................................................... 32
3.8 Safety measures ........................................................................................................ 32
3.8.1 General safety measures ...................................................................................... 32
3.8.2 Transportation ....................................................................................................... 33
3.8.3 Start-up and recommissioning .............................................................................. 34
3.8.4 Virus protection and network security ................................................................... 35
3.8.5 Manual mode ........................................................................................................ 36
3.8.6 Simulation ............................................................................................................. 36
3.8.7 Automatic mode ................................................................................................... 37
3.8.8 Maintenance and repair ........................................................................................ 37
3.8.9 Decommissioning, storage and disposal .............................................................. 38
3.8.10 Safety measures for “single point of control” ........................................................ 38
3.9 Applied norms and regulations .................................................................................. 39
4 Planning ........................................................................................................ 41
4.1 Installation conditions ................................................................................................ 41
4.2 Connection conditions ............................................................................................... 42
4.3 Power supply connection ........................................................................................... 43
4.4 EMERGENCY STOP circuit and safeguard .............................................................. 43
4.5 Interface X11 ............................................................................................................. 45
4.6 Configuring mini I/O X12 ........................................................................................... 49
4.7 Configuring wrist I/O X32 ........................................................................................... 52
4.8 PE equipotential bonding ........................................................................................... 52
4.9 Visualization of the KCP coupler option .................................................................... 53
4.10 Performance level ...................................................................................................... 53
4.10.1 PFH values of the safety functions ....................................................................... 53
5 Transportation ............................................................................................. 55
5.1 Transporting the robot controller ............................................................................... 55
6 Start-up and recommissioning ................................................................... 57
6.1 Start-up overview ....................................................................................................... 57
6.2 Installing the robot controller ..................................................................................... 58
6.3 Connecting the connecting cables ............................................................................. 58
6.4 Connecting the KCP .................................................................................................. 59
6.5 Connecting the PE equipotential bonding ................................................................. 59
6.6 Connecting the robot controller to the power supply ................................................. 59
6.7 Configuring and connecting connector X11 ............................................................... 59
6.8 Configuring and connecting mini I/O connector X12 ................................................. 59
6.9 Configuring and connecting wrist I/O connector X32 ................................................ 60
7 KUKA Service ............................................................................................... 61
7.1 Requesting support ................................................................................................... 61
7.2 KUKA Customer Support ........................................................................................... 61
Index ............................................................................................................. 69
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