KR-C2 Introduction

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1 of 16RobsysEinleitung 11.04.00 en

PRODUCT DOCUMENTATION

(V)KR... / (V)KR C... / KL...

Introduction

Issued: 16 Nov 2004 Version: 00


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2 of 16 RobsysEinleitung 11.04.00 en

e Copyright 2004

KUKA Roboter GmbHZugspitzstr. 140D--86165 Augsburg

Thisdocumentation or excerpts therefrom may notbe reproduced or disclosed to third parties without theexpress permission of thepublishers.Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, inthe case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepanciescannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on aregular basis, however, andnecessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effecton the function.


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Contents

1 Foreword 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 How to use this documentation 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Safety symbols 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Icons 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Text styles 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Cross references 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Service requests 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Device type and serial number 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Software version numbers 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 We value your opinion 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Service centers 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


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Introduction



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1 Foreword


1 Foreword

This document is part of the operating instructions.

The KUKA Robot Group documentation is there to assist you in the following areas:

G Working with the products from the KUKA Robot Group

G Working with the product documentation

G Help with service requests


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Introduction


2 How to use this documentation

The KUKA Robot Group documentation contains:

G Safety symbolsG Icons

G Text styles

2.1 Safety symbols

Text passages indicated by the following safety symbols are relevant to safety and must beobserved.

WARNING

Following these safety warnings carefully can prevent personal injury.

CAUTION

Following these safety warnings carefully can prevent material damage.


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2 How to use this documentation (continued)


2.2 Icons

Text passages indicated by the following icons facilitate handling of the robot system.

NOTE

Indicates special features for particular attention.

Tip

Indicates recommendations and advice to make your work easier.

See also

Indicates sections or chapters containing further information and explanations.

Info

Indicates passages which are of particular significance or are useful for greater under-standing.

ExampleIndicates practical examples that can be implemented in the robot system.

Modifications or entries required

Indicates process steps requiring operator entries.

Modifications or entries not permissible

Indicates process steps in which operator entries are not permissible.


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Introduction


2.3 Text styles

Font style Meaning

Text in [square brackets] Indicates cross references

Text in quotation marks Indicates softkeys, status keys, keys and boxes(e.g. in forms)

Bold Indicates particular features

Serif Indicates extracts from program listings

Italics Explain program listings

Serif bold or underlined Indicates operator entries in program listings

2.4 Cross references

The following cross reference designations are used in the documentation:

G Handbook (HB) refers to another handbook in the operating instructions.Example: [HB: Robot].

G Main chapter (MC) refers to a main chapter within a handbook.Example: [MC: Introduction].

G Chapter (Ch.) refers to a subdivision of a main chapter.

Example: [Ch.: How to use this documentation].G Section refers to a subdivision of a chapter.

Example: [Section: Safety symbols].

... instructs the operator to press a program key (menu key or softkey) on the KCP.The currently valid function of the key is displayed on the screen.

... instructs the operator to press a menu key and a submenu key on KCP.


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3 Service requests


3 Service requests

The KUKA Robot Group documentation offers a wealth of information on operation andprovides assistance with troubleshooting.

Your local service center is available at all times to deal with any service requests goingbeyond the scope of this documentation (see Section 3.4).

You should report any faults to the service center responsible within one hour of theiroccurrence.

The following information is required for processing a service request:

G Model and serial number of the robot

G Model and serial number of the linear unit (optional)

G Model and serial number of the controller

G Version numbers of the software

G Memory dump (archive) from the controller

G Application used

G External axes used

G Description of the problem, duration and frequency of the fault


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Introduction


3.1 Device type and serial number

Check the type and serial number of all affected system parts using the identification plates.The identification plates are located in the following positions:

Fig. 1 Robot identification plate

Fig. 2 Linear unit identification plate


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3 Service requests (continued)


Fig. 3 (V)KR C2 control cabinet identification plate

Fig. 4 KR C3 (table version) controller identification plate

Fig. 5 KR C3 (rack version) controller identification plate


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Introduction


3.2 Software version numbers

Theversion numbers of the software are displayed on the KCP screen by pressing the menukey Help/Info.

Fig. 6 Version numbers of the software


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3.3 We value your opinion

These operating instructions have been carefully tailored to the product they accompany.Despite regular checks, errors cannot be entirely precluded.

For this reason, we cannot guarantee that this documentation is totally free from errors.

If you have any questions about the documentation (suggestions, corrections), please sendthem to one of the following addresses:

Fax: +49 821 797 1087e--mail: [email protected]


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Introduction


3.4 Service centers

Tel.: +55--11 / 64 13 49 00

Fax: +55--11 / 64 11 15 65

E--Mail: [email protected]

KUKA Roboter do Brasil Ltda.

Rua Dom Feliciano no 63

Cidade Satlite, Guarulhos

CEP 07224 240

So Paulo, SP Brasil

Tel.: +32--11 / 51 61 60

Fax: +32--11 / 52 67 94


Internet: http://www.kuka.be

Belgium

KUKA Roboter GmbH

Vertriebsbro sterreich

Regensburger Strasse 9/1

A -- 4020 Linz

Tel.: +43--732 / 78 47 52

Fax: +43--732 / 79 38 80


Internet: http://www.kuka--roboter.at

Austria

KUKA Automatisering + Robots N.V.

Centrum Zuid 1031

B -- 3530 Houthalen

Belgium

Brazil

Tel.: +33--1 / 69 31 66 00

Fax: +33--1 / 69 31 66 01


Internet: http://www.kuka.fr

KUKA Automatisme + Robotique SAS

Techvalle

6, Avenue du Parc

F -- 91140 Villebon s/Yvette

France

KUKA Automation Equipment

(Shanghai) Co.,Ltd.

Part B, Ground Floor, No. 211, Fu te Road (North)

Waigaoqiao Free Trade Zone

Shanghai 200 131, China

Tel.: +86--21 / 58 66 51 39

Fax: +86--21 / 58 66 75 71


China

Tel.: 0190 / 88 19 26

Fax: +49--821 / 797 -- 10 87


Internet:: www.kuka--roboter.de

GermanyService--Sttzpunkt:

KUKA Roboter GmbH

Zugspitzstrae 140

D -- 86165 Augsburg

Ruben Costantini S. A. (Agency)

Luis Angel Huergo 13 20Parque Industrial

2400 San Francisco (CBA), Argentina

Tel.: +54--35 64 / 42 10 33

Fax: +54--35 64 / 42 88 77E--Mail: [email protected]

Argentina

Marand Precision Engineering Pty. Ltd (Agency)

153 Keys Road

Moorabbin, Victoria 31 89

Australia

Tel.: +61--3 / 85 52 06 00

Fax: +61--3 / 85 52 06 05


Australia


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Tel.: +36--24 / 50 16 09

Fax: +36--24 / 47 70 31


KUKA Robotics Hungaria Kft.

2335 Taksony

F t 140

Hungary

Tel.: +39--0 11 / 959 50 13

Fax: +39--0 11 / 959 51 41


Internet: http://www.kuka.it

KUKA Roboter Italia S.p.A.

Via Pavia 9/a -- int. 6

I -- 10098 Rivoli (TO)

Italy

Sieflex Robotics (Agency)

54, Industrial Estate, Ambattur

Madras -- 600 058

India

Tel.: +91 (44) / 624 14 12

Fax: +91 (44) / 26 25 87 57


India

KUKA Sistemas de Automatizacin S.A.Urbanizao do Vale do Alecrim, Lote 115--B

2950 Palmela, Portugal

Tel.: +351--21 / 238 80 83Fax: +351--21 / 238 80 86


KUKA de Mexico S. de R.L. de C.V.

Rio San Joaquin #339, Local 5

Colonia Pensil Sur

C.P. 11490 Mexico D.F.

Tel.: +52--55 / 52 03 84 07Fax: +52--55 / 52 03 81 48


KUKA Robot Automation Sdn Bhd

South East Asia Regional Office

24, Jalan TPP 1/10, Taman Industri Puchong

47100 Puchong, Selangor, Malaysia

Tel: +60--3 / 80 61--06 13

/ 80 61--06 14

Fax: +60--3 / 80 61--73 86


Malaysia

Mexico

Portugal

KoreaKUKA Robot Automation Korea, Co. Ltd.

4 Ba 806 Sihwa Ind. Complex

Sung--Gok Dong, Ansan City

Kyunggi Do, 425--110 Korea

Tel.: +82--31 / 496--99 37

/ 496--99 38

Fax: +82--31 / 496--99 39


KUKA Svetsanlggningar +

Robotar AB Avd. Norway

Hadelandsveien 2

Postbox 17

NO--2801 Gjvik, Norway

Tel.: +47--61 / 13 34 22

Fax: +47--61 / 18 62 00


Norway

KUKA--VAZ Engineering

445633 Togliatti

Jushnoje Chaussee, 36 VAZ, PTO

Tel.: +7--84 82 / 39 12 49

/ 37 05 64

Fax: +7--84 82 / 73 67 30

Tx: +7--21 41 06


Russia


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Introduction


KUKA Robotics Corp.

22500 Key Drive

Clinton Township

Michigan 48 036 USA

Tel.: +1--866 / 873 58 52

Fax: +1--(586) / 569 20 87


Internet: http://www.kukarobotics.com

KUKA Welding Systems + Robot Ltd.

Hereward Rise, Halesowen

UK--West Midlands B62 8AN GB

Tel.: +44--121 / 58 50 800

Fax: +44--121 / 58 50 900


KUKA Robot Automation (M)Sdn Bhd

Thailand Office

c/o Maccall System Co. Ltd.

49/9--10 Soi Kingkaew 30, Kingkaew Road

Tt. Rachatheva, A. Bangpli

Samutprakarn, 10540 Thailand

Tel.: +66--2 / 750 27 37

Fax: +66--2 / 661 23 55


Internet: http://www.kuka--roboter.de

Thailand

U.K.

U.S.A.

KUKA Robot Automation Taiwan Co., Ltd.

136, Section 2,

Huanjung E. Road

Jungli City, Taoyuan, Taiwan 320

Tel.: +886--3 / 437 19 02

Fax: +886--3 / 283 00 23


Internet: www.kuka.com.tw

Taiwan

Tel.: +34--93 / 814 23 53

Fax: +34--93 / 814 29 50


Internet: http://www.kuka--e.com

KUKA Sistemas de Automatizacin, S.A.

Pol. Industrial

Torrent de la Pastera

Carrer del Bages s/n

E -- 08800 Vilanova i La Geltr (Barcelona)

Spain

Tel.: +46--31 / 72 66 200

Fax: +46--31 / 72 66 201


KUKA Svetsanlggningar + Robotar AB

A. Odhners gata 15

S--42130 Vstra Frlunda

Sweden

Tel.: +41--17 / 44 90 90

Fax: +41--17 / 44 90 91


Internet: http://www.kuka--roboter.ch

KUKA Roboter Schweiz AG

Riedstrasse 7

CH--8953 Dietikon

Switzerland

Jendamark Automation LTD (Agency)

76a York Road, North End

Port Elizabeth 6000

South Africa

Tel.: +27--41 / 391 47 00

Fax: +27--41 / 373 38 69

Internet: http://www.jendamark.co.za

South Africa

1


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Index

Index -- i

A

Application, 9

B

Bold, 8

C

Caution, 6

Ch., 8

Controller, 9

Controller serial number, 9

Cross reference

Ch., 8

HB, 8

MC, 8

Section, 8

Cross references, 8

D

Description of the problem, 9

Device type, 10

E

Example, 7

External axes, 9

F

Foreword, 5

Frequency of the fault, 9

H

HB, 8Help with service requests, 5

How to use this documentation, 6

I

Icons, 6, 7

Example, 7

Info, 7

Modifications or entries not permissible, 7Modifications or entries required, 7

Note, 7

See also, 7

Tip, 7

Identification plate

KR C3, 11

Linear unit, 10

Robot, 10

Identification plates, 10

Info, 7Italics, 8

K

KUKA Robot Group, 5

L

Linear unit, 9

M

Material damage, 6

MC, 8

Memory dump, 9

Menu key, 8

Modifications or entries not permissible, 7

Modifications or entries required, 7

N

Note, 7

P

Personal injury, 6

Program key, 8

Q

Quotation marks, 8

R

Robot serial number, 9


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Index

S

Safety symbols, 6

Caution, 6

Warning, 6

Section, 8See also, 7

Serial number, 10Serif, 8Serif bold, 8Service centers, 14

Service requests, 9Softkey, 8

Software version numbers, 12Square brackets, 8

Submenu key, 8

T

Text emphasis, 6

Text styleBold, 8

Italics, 8Quotation marks, 8

Serif, 8Serif bold, 8

Square brackets, 8Text styles, 8

Tip, 7

V

Version numbers of the software, 9

W

Warning, 6

Working with the product documentation, 5

Documents

KR-C2 Introduction