03-kuka机器人培训kuka各版本随机4 1版operator handbook

1、SOFTWAREKR C.Operating HandbookRelease 4.1 New FeaturesBedHBbersichtNewsR4.1 10.01.00 en1 of 4e 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 t

2、his 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 preclu

3、ded, 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 ubsequent editions.Subject to technical alterations without an effect on the function.PD InterleafBedHBber

4、sichtNewsR4.1 10.01.00 en2 of 41IntroductionContents1Introduction1.2.3.KUKA Roboter GmbH About this documentationService2Safety.5.6.7.LiabilitySafety symbols SafetyPlanning and constructiontallation, operation and other work Safety labellingESD directives3Operator Control..Runni

5、ng up / shutting down the controller The KUKA Control Panel KCP Coordinate systemsManual traversing of the robot NavigatorExecuting, stopping and resetting a program MonitorMenu structure4Start-up.Robot mastering / unmastering CalibrationCalibration - External kinematicsRobot nameBedHBbersich

6、tNewsR4.1 10.01.00 en3 of 4Operating HandbookThe gray sections refer to documentation in the Programming Handbook5Configuration1.2.3.Configuring the system Configuring the system, expertAutomatic External6User Programming1.2.Program editingProgram commands7Expert Programming..9.10.11.G

7、eneral information on KRL programs Variables and declarationsMotion programming KRL assistantProgram execution controlInput/outputtructionsSubprograms and functions Interrupt handlingTrigger - Path-related switching actions Data listsExternal editor8Additional Functions1.Standard programs9Applicatio

8、ns10Appendix.5.Error messages / troubleshooting GlossarySystem variables HistoryOverall indexBedHBbersichtNewsR4.1 10.01.00 en4 of4SOFTWAREKR C.IntroductionRelease 4.1 New FeaturesBedHbEinleitungNewsR4.1 10.01.00 en1 of 4e Copyright KUKA Roboter GmbHThis documentation or excerpts therefrom ma

9、y not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this 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 t

10、he content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, 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 corre

11、ctions will be incorporated ubsequent editions.Subject to technical alterations without an effect on the function.PD InterleafBedHbEinleitungNewsR4.1 10.01.00 en2 of 4Contents1. . . . . . . 422.12.2About this documentation . . . . . . . . . . . . . . . . . Available documentation .444BedHbEinleitung

12、NewsR4.1 10.01.00 en3 of 4 Introductio n122.12.2About this documentationAvailable documentationA flexible robot system requires a comprehensive set of operatingtructions. In additionto the supplied software documentation, there are other handbooks available covering arange of additional topics. Due

13、to the complexity of these subject areas, these handbooks are issued in conjunction with training courses provided by KUKA Roboter GmbH.BedHbEinleitungNewsR4.1 10.01.00 en4 of4HandbookTopicOperator control*Basic robot programmingProgramming*Advanced robot programmingAdministratorAdministration and c

14、onfiguration of the robot systemElectrical ServicingDescription, maintenance and servicing of the robot system* Delivered with the systemSOFTWAREKR C.Operator ControlRelease 4.1 New FeaturesBedHbBedienNewsR4.1 10.01.00 en1 of 63e Copyright KUKA Roboter GmbHThis documentation or excerpts therefrom ma

15、y not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this 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 t

16、he content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, 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 corre

17、ctions will be incorporated ubsequent editions.Subject to technical alterations without an effect on the function.PD InterleafBedHbBedienNewsR4.1 10.01.00 en2 of 63Contents1.4Running up / shutting down the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18、 . . . . . . . . . . . . . . . . . . . . . . . . . . Operator control elements on the control cabinet “KR C3” . . . . . . . . . . . . . . . . . . . . . . . . . . .66666.3The KUKA Control Panel KCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Graphical user interface (GUI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input/output windows . . . . . . . . . 888888883. . . . . . . 94. . . . . . . 9.....

20、.Navigator . . . . . . . . . . . . . . . . . . . Graphical user interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21、. . . . . . . . Directory and file list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Pop-up menu . . . . . . . . . . “File” menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Archive . . . . . . . . . . . Restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configure . . . . . . . . . . . . . . . . .

23、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1010101010101010121313131314141414146.3.1Executing, stopping and resetting a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting work velocity (program ov

24、erride) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Stop reactions . . . . . . . . . . . . . . . . . . . . . . . . 1616161616BedHbBedienNewsR4.1 10.01.00 en3 of 63Operator Control.. . . . . . . . . . . . . Maximum braking . . . . . . . . . Shor

25、t-circuit braking (dynamic braking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Manual program execution (jog mode) . . . . . . . 16161717........37.4

26、...3Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Inputs/outputs . . . . . . . . . . Digital inputs . . . . . . . . . . . Digital outputs . . . . . . . . . . . .

27、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Automatic External . . . . . . . . . Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Outputs . .

28、. . . . . . . . . Rob. Position . . . . . . . . . . Variable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview . . . . . . . . . . . Monitor . . . . . . . . . . . Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Display . . . . . . . . . . . Cyclic Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Flags . . . . . . . . . . . Counter . . . . . . . . . . . Timer .

30、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

31、 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .CROSS Log book . . . . . . . . . Caller Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32、. . . .Safety circuit . . . . . . . . . . . WebDiag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Help . . . . . . . . . . .

33、Online help . . . . . . . . . . . Message window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Log book . . . . . . . . . . . Inline forms . . . . . . . . . . . Error display . . . . . . . . . . . . . . . . . . . . . . . .

34、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1818182021212222232729292929303031323334

35、3535353636373738383939394041424344.28.4Menu structure. . . . . . . . . . . . . . . . . . File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Program. . . . . . . . . . . . . . . . .

36、. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .At programming level . . . . . . . . . In the editor . . . . . . . . . . . Configure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

37、. . . . . . . . . . . . .47474750505153BedHbBedienNewsR4.1 10.01.00 en4 of 638.58.6Monitor .5760Setup.BedHbBedienNewsR4.1 10.01.00 en5 of 63Operator Control1Running up / shutting down the controller1.4Operator control elements on the control cabinet “KR C3”KCP connectionStatus indicationThe

38、 cable of the KCP (KUKA Control Panel) is connected to this socket.The first LED shows whether or not the system is switched on. The second indicates that the computer unit hard drive is being accessed.CD-ROM driveFloppy disk drive IUPSOn/off switchResetThe entire robot system is switched on and off

39、 with this switch.This button is used to reset the computer (warm start) without having to switch the system off and back on again.BedHbBedienNewsR4.1 10.01.00 en6 of631Running up / shutting down the controller (continued)BedHbBedienNewsR4.1 10.01.00 en7 of 63Both doors on the control module must be

40、 kept shut in order to keep dirt out.2The KUKA Control Panel KCP2.4Graphical user interface (GUI).22.4.3Input/output windowsProgram windowThe program window shows the contents of the selected program. If there is no program selected, a list of the available programs is displayed in

41、the program window.Located between the line number and the text of the truction, or statement, is a yellow arrow pointing right, the “block pointer”. This indicates the program line that is currently being executed.Another marker is the “edit cursor”, a vertical red line. The edit cursor is located

42、at the beginning of the line that is currently being edited.Further information on the use of the block pointer is provided in Section LEERER MERKER.Block pointer (program pointer)Edit cursorStatus windowThe status window is opened as required for display purposes (e.g. assignment of outputs) or for

43、 entry of data (e.g. during tool calibration).You can move between the input boxes using the “” and “ ” arrow keys.BedHbBedienNewsR4.1 10.01.00 en8 of 63Operator Control3Message windowThe controller communicates with the operator via the message window. Notification, status, acknowledgement, wait and dialog messages are displayed here.Each type of message has a specific symbol assigned to it. Further information can be found ection LEERER MERKER.If the message text does not fit in one