SOFTWARE / HARDWARE KR C2 / KR C3 Installation KUKA … · 13 of 24 EinleitungBH5.2 08.03.00 en 3 KUKA System Software (KSS) ... manual KSS setup. Installation 16 of 24 EinleitungBH5.2

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EinleitungBH5.2 08.03.00 en

Contents

1 Fundamentals 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Installation types 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 System requirements 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Operating system 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 BIOS settings 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.1.1 Changing the boot sequence 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.1.2 Hard drive parameters 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.1.3 Saving the settings 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Installing the operating system 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Changing the boot sequence in the BIOS 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 KUKA System Software (KSS) 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Preventing an automatic start of the “KUKA System Software” 14. . . . . . . . . . . . . . . . . . . . . . .

3.2 Installing the “KUKA System Software” manually 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Automatic Software Update 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Installation

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1 Fundamentals

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1 Fundamentals

1.1 Installation types

An operational version of the “KUKA System Software” (KSS) is supplied with the controlcabinet. The KSS itself runs under a specially--modified version of the Windows operatingsystem.

Only use the operating system supplied with the control cabinet for operating therobot controller! Only this version ensures that the KUKA software will functioncorrectly.

In some circumstances, it may be necessary to install a more up--to--date version of theoperating system or the KUKA software. A number of options are available:

Procedure Action Situation

Operating system (see Chapter 2)

Configuration of the entire harddisk

Deletion of all data on the harddisk;Installation and configurationof the operating system

Defective hard drive

KRC setup (see Chapter 3)

Installation of “KUKA SystemSoftware”

Installation and configurationof the KSS alongside the oper-ating system that has alreadybeen installed

Important componentshave changed (e.g. newmachine data required)

Automatic update (see Chapter 4)

Updating of “KUKA SystemSoftware”

Installation and configurationof the KSS with the operatingsystem running

KSS update

Installation

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1.2 System requirements

A number of preconditions must be met before you can install the current KUKA RoboterGmbH programs.

First of all, you need...

G a CD--ROM with the Windows operating systemAn external keyboard is required here, for manipulating the BIOSsettings and configur-ing the operating system.

G a CD--ROM with the required release of the “KUKA System Software” (KSS)

The installation procedure is the same for the different KR C versions. The only differencesarise in the selection of the hardware used.

When upgrading from older KUKA control cabinets, the following minimum systemrequirements apply:

G Cabinet version KR C2 / KR C3

G Motherboard Only KUKA--approved types

G Processor 400 MHz Celeron

G Main memory 256 MB RAM

G Hard drive 10 GB

G KUKA VGA Release 16

If your control cabinet does not meet the requirements listed, it may be possible toexchange the control cabinet’s computer unit. More detailed information about this can beobtained from our service department.

2 Operating system

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2 Operating systemThe hard disk in the robot control computer is reconfigured.

If there is a second hard drive installed in the system, this must either be disconnected ordeactivated in the BIOS.

Any data on the hard disk are irrevocably lost during this procedure. You shouldtherefore make backup copies of any relevant data. Only change settings that areexplicitly indicated.

2.1 BIOS settings

Before the software can be installed, a number of modifications must be made to the BIOS(Basic Input Output System) settings of the robot controller.

The appearance and structure of the BIOS settings depend, among other things, on thehardware used and may therefore differ from those illustrated in these examples.

Switch the robot controller on. During the boot sequence (just after the memory test) pressthe Delete key on the keyboard. This takes you to the BIOS settings main menu.

SOYO COMBO SETUP

STANDARD CMOS SETUP

BIOS FEATURES SETUP

CHIPSET FEATURES SETUP

PNP/PCI CONFIGURATION

LOAD KUKA DEFAULTS

Esc : QuitF10 : Save & Exit Setup

" # z! : Select Item(Shift)F2 : Change Color

INTEGRATED PERIPHERIALS

SUPERVISOR PASSWORD

USER PASSWORD

IDE HDD AUTO DETECTION

SAVE & EXIT SETUP

EXIT WITHOUT SAVING

Del

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The following keys are required for navigating in the BIOS settings:

Key Designation Action

Arrow keys For selecting the desired entry

Enter key Opens the window for the selected entry

ESC key Closes the current window and opens theprevious one

PgUp PgDn Scroll keys Selection of a parameter

Del Del key Summons the BIOS settings when thesystem is booted

2.1.1 Changing the boot sequence

The boot sequence in the BIOS determines which drive the operating system is loaded fromwhen the system is booted. Usually, theCD--ROMdrive is deactivated in the boot sequence.In order to install a new operating system, this setting must be changed.

SOYO COMBO SETUP

Select the option “SOYO COMBO SETUP” in the main menu and press the Enter key. In thefollowing screen, the entry “Boot Sequence” is of importance.

CPU Host/PCI Clock : 66/33 MHz

CPU Frequency : x 6.5 = 433 MHz

SDRAM RAS-to-SAS Delay : 2

SDRAM RAS Precharge Time : 2

SDRAM CAS latency Time : 3

Boot Sequence : C,A,SCSIQuick Power On Self Test : Enabled

ESC: Quit " # z!: Select Item

F1 : Help PU/PD/+/- : Modify

F5 : Old Values (SHIFT)F2 : Color

F7 : Load Setup Defaults

CPU Warning Temperature : Disabled

Current CPU1 Temperature: 57�C/136�F

Current CPUFAN1 Speed : 0 RPM


Vcore : 2.01 V +3.3 V : 3.48 V

+ 5 V : 4.97 V +12 V : 12.43 V

-12 V :-12.69 V -5 V : -5.14 V

2 Operating system (continued)

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Use the “PgUp” and “PgDn” keys to select the parameter “CDROM,C,A”.

Boot Sequence : CDROM,C,A

2.1.2 Hard drive parameters

If the size of thenewly installed drive is different from that displayed, or if it is connecteddiffer-ently, this must be communicated to the system. The easiest way is the automatic detectionfunction.

STANDARD CMOS SETUP

Select the option “Primary Master”.

Date (mm:dd:yy) : Mon, Jun 3 2002

Time (hh:mm:ss) : 09 : 12 : 37

Hard Disks : TYPE SIZE CYLS HEAD PRECOMP LANDZ SECTOR MODE

Primary Master : None 0 0 0 0 0 0 ------

Primary Slave : None 0 0 0 0 0 0 ------

Secondary Master : None 0 0 0 0 0 0 ------

Secondary Slave : None 0 0 0 0 0 0 ------

Drive A : 1.44M, 3.5 in.

Drive B : None

Video : EGA/VGA

Halt On : All,But Disk/Key

Base Memory : 640K

Extended Memory: 130048K

Other Memory: 384K

Total Memory: 131072K

Esc : Quit " # z! : Select Item PU/PD+/- : Modify

F1 : Help (SHIFT)F2 : Change Color

Set both the master controllers and the slave controllers to “Auto”:

Primary Master : AUTO 0 0 0 0 0 0 AUTO

...

Secondary Slave : AUTO 0 0 0 0 0 0 AUTO

In this case, the system checks the existing drives automatically every time the system isstarted. A modified configuration is thus detected automatically.

If the existing drives are not detected, this may be because they are incorrectly set. In thiscase, check that the drive in question is correctly set to “Master” or “Slave”.

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2.1.3 Saving the settings

SAVE & EXIT SETUP

To save the changes, select the menu item “SAVE & EXIT SETUP” in the main menu andpress the Enter key. Confirm the safety query with “Y”. The system will then be restarted.

SAVE to CMOS and EXIT (Y/N)? Y

Depending on the keyboard layoutthat has been set, or the actual key-board used, the “Y” and “Z” keysmay be reversed.

2.2 Installing the operating system

Place the CD--ROMwith the operating system in the CD--ROM drive if you have not alreadydone so, and restart the system.

G If an operating systemhas already been installed on thehard drive, themessage “Pressany key to boot from CD...” appears. If you now press a key, the setup program isstarted. The existing operating system is overwritten.

G If there is nooperating system installed on thehard drive, the setupprogramstartsauto-matically.

The operating system is installed in several steps:

G First of all, the hard drive is prepared for the installation of the operating system bysetting up two partitions. The first partition (drive “C:\”) has a defined capacity of 5 GB;the remaining storage capacity is assigned to the second partition (drive “D:\). Bothpartitions are then formatted.

G In the next step, the operating system is loaded and the system is restarted.

G The necessary KUKA drivers are now installed. Depending on the specificconfiguration, the user may now be required to make certain entries. The systemmustthen be rebooted once again.

The operating system is now ready to use.

With a 733MHz Celeron processor and a 48x CD--ROM drive, complete installation of theoperating system takes approximately 40 minutes.The appearance and mode of operation of the operating system are influenced by theconfiguration. They may therefore vary from the illustrations used in this documentation.

2 Operating system (continued)

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2.3 Changing the boot sequence in the BIOS

Remember to reset the boot sequence to its original state. Call the BIOSsettings by pressingthe Del key next time the system is started.

SOYO COMBO SETUP

Select the option “Boot Sequence”.

CPU Host/PCI Clock : 66/33 MHz

CPU Frequency : x 6.5 = 433 MHz

SDRAM RAS-to-SAS Delay : 2

SDRAM RAS Precharge Time : 2

SDRAM CAS latency Time : 3

Boot Sequence : CDROM,C,AQuick Power On Self Test : Enabled

ESC: Quit " # z!: Select Item

F1 : Help PU/PD/+/- : Modify

F5 : Old Values (SHIFT)F2 : Color

F7 : Load Setup Defaults

CPU Warning Temperature : Disabled

Current CPU1 Temperature: 57�C/136�F



Vcore : 2.01 V +3.3 V : 3.48 V

+ 5 V : 4.97 V +12 V : 12.43 V

-12 V :-12.69 V -5 V : -5.14 V

Use the “PgUp” and “PgDn” keys to select the parameter “C,A, SCSI”.

Boot Sequence : C,A,SCSI

SAVE & EXIT SETUP

To save the changes, select the menu item “SAVE & EXIT SETUP” in the main menu andpress the Enter key. Confirm the safety query with “Y”. The system will then be restarted.

SAVE to CMOS and EXIT (Y/N)? Y

Depending on the keyboard layoutthat has been set, or the actual key-board used, the “Y” and “Z” keysmay be reversed.

Y

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3 KUKA System Software (KSS)

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3 KUKA System Software (KSS)Insert the “KUKA System Software” CD into the CD--ROM drive.

The Windows settings strongly influence the appearance of the individual components.They may therefore vary from the examples illustrated here.

If no version of KSS has previously been installed on the hard drive, skip the next sectionand continue with “Installing the KUKA System Software manually”.

The following keys are required for navigation during installation of the KSS:

Key Designation Action

+Ctrl Control + EscapeOpens the Start menu of the operatingsystem.Not available in the user group “User”.

Arrow keys For selecting the desired entry

Enter keyIn the Start menu, this key opens the sub-menu corresponding to the selected entryor starts the selected program

ESC key Closes the current window and opens theprevious one

TAB keyToggles to a different area in the Explorerwindow where selections can then bemade

Del Del key Deletes the element selected in theExplorer

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3.1 Preventing an automatic start of the “KUKA System Software”

If a versionof theKSS is already installed, this is automatically startedwhen the robot systemis booted. To prevent this automatic start, proceed as follows:

Open the Windows Start menu

Hold the CTRL key down and press the ESC key.

Start Windows Explorer

Using the arrow keys, select the entry

“Programs” --> “Accessories” --> “Windows Explorer”

and press the Enter key.

3 KUKA System Software (KSS) (continued)

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Prevent Startup

Using the arrow keys, select the path“C:\ Documents and Settings \ All Users \ Start menu\ Programs \ Startup”and press the TAB key

Delete the “StartKRC” shortcut by pressing theDel key.

Restart the system

Then restart the system. Once the operating system has booted, you can continue with themanual KSS setup.

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3.2 Installing the “KUKA System Software” manually

To install the KSS manually, open the Start menu and start Windows Explorer.

Starting the setup program

Using the TAB key and the arrow keys, select the CD--ROMdrive. Use the TAB key to toggleto the right--hand section of the window and select the entry “Setup.exe”. Then press theEnter key.

Alternatively, you can load the setupprogram via the Start menu and theoption “Run”. Enter “E:\Setup.exe” inthe command line and confirm this bypressing Enter.

Depending on the hardware configuration, the CD--ROM drive may have been assigneda drive letter other than “E:\” by the operating system. If this is the case, enter the corre-sponding drive letter instead of “E”.


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Language selection

In the first step, you can choose the language in which texts are to be displayed duringinstallation.

Select the desiredlanguage by pressingthe “#” and “"” arrowkeys and pressing thespace bar once tohighlight the option.

The selected languageis confirmed by press-ing the Enter key.

If youwish tomodify any of the settings, press the button “Back” to take you step--by--step back through the previous dialog windows.

Pressing “Cancel” terminates the installation.

Welcome page

Please read the text in the welcome page.

The next window isopened by pressing“Next”.

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Copying the CD--ROM

Select the box“CopyingCD--ROM”by pressing thespace bar if youwish to copy thecontents of theCD--ROM to thehard disk.

This dialog window only appears if the software is being installed from the CD--ROM andthere is a second hard disk partition available. If the CD was already copied onto the harddisk during an earlier installation, that copy will now be overwritten.

Virus scanner

Select the box“Install Ikarus virusscanner” by press-ing the space bar ifyou wish to installthis program in thesystem.


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Entry of parameters

Select the desiredcustomer version.

Conversion

If there is an earlier version of the software already installed on the hard drive, data such asmachine data, Init files and programs can be converted.

Specify which dataare to be converted.

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Robot type

The robot type cannot be selected if the machine data from an earlier installation areconverted.

Select the robot typeto be used.

If your robot does not correspond withthe type suggested, activate the“Browse” button using the “TAB” key andpress Enter.

Using the arrow keys, search in the“MaDa” directory for the control cabinetyou are using (e.g. “KR C2”) and thereselect the robot.

If the machine data loaded do not match the robot type, a corresponding errormessage is generated when the controller is booted. The robot must not bemovedin this case.


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Options

Select the optionsthat are present inyour system. Thisis also done usingthe arrow keys andthe space bar.

Summary

Finally, a summaryof the setup settingsis displayed.

If all the settings arecorrect, press theEnter key. Theinstallation processis now carried out.

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Restart

Windows must berestarted on comple-tion of the installa-tion process.

The system is automatically configured when Windows is started. The “KUKA SystemSoftware” is then started for the first time.

4 Automatic Software Update

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4 Automatic Software UpdateA new version of the control software can be installed with the KSS running.

Because of the operating system, a software update is only possible from Release 5.xonwards. Older versions are not supported.

Place the CD with a new program version or service pack in the CD--ROM drive.

Setup MeasureMasterUnMasterSoftware UpdateServiceRobot Data

automatic

The update CD must remain in the CD--ROM drive throughout the whole process.Failure to do this will result in loss of data and incorrect installation.

A safety query appears in the message window.

Date: Wednesday, August 27, 2003 13:35:16Source SSV No: 10

Perform a Software Update ?

Cancel

No

Yes The software update is carried out.

The software update is not carried out.

In the next stage the controller must be restarted.

C... Time No. Source Message

20:45:10 2020:45:10 4

To complete software update please REBOOTNext boot will be a forced cold start.

SSV

Switch the controller off andwait until the computer unit has shut down completely. Only nowmay the controller be switched back on again.

If errors occur during software update, you can view these in the display in the log file.

Once the update is complete the computer is run back down again. Only now may the CDbe removed from the drive. The controller is then restarted automatically.

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NOTES:

1

Index

Index -- i

AAutomatic update, 5

BBIOS settings, 7Boot sequence, 8, 11

CCabinet version, 6Celeron, 6

DDrive letter, 16

HHard drive, 6Hard drive parameters, 9

IInstalling the KUKA System Software manually,16Installing the operating system, 10

KKRC setup, 5KSS, 13KUKA System Software, 13KUKA VGA, 6

LLanguage, 17

MMain memory, 6Minimum requirements, 6Motherboard, 6

OOperating system, 5, 7Options, 21

PProcessor, 6

RRobot type, 20

SSoftware update, 23

UUpdate, 5

WWindows Explorer, 14Windows operating system, 6Windows Start menu, 14