Robot KUKA KRC4 Instrukcje obsługi "Manual" w PDF ver.English
Controller
KR C4
Operating Instructions
Issued: 30.05.2012
Version: BA KR C4 GI V5 en
KUKA Roboter GmbH
KR C4
© Copyright 2012
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims 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, 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 the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
Publication:
Bookstructure:
BA KR C4 GI V5.5
Version:
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Pub BA KR C4 GI en
BA KR C4 GI V5 en
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Contents
Contents
1
Introduction ..................................................................................................
9
1.1
Industrial robot documentation ...................................................................................
9
1.2
Representation of warnings and notes ......................................................................
9
1.3
Trademarks ................................................................................................................
9
1.4
Terms used ................................................................................................................
9
2
Purpose ........................................................................................................
11
2.1
Target group ..............................................................................................................
11
2.2
Intended use ..............................................................................................................
11
3
Product description .....................................................................................
13
3.1
Overview of the industrial robot .................................................................................
13
3.2
Overview of the robot controller .................................................................................
13
3.3
KUKA Power Pack .....................................................................................................
15
3.4
KUKA Servo Pack ......................................................................................................
15
3.5
Control PC .................................................................................................................
15
3.6
Cabinet Control Unit ...................................................................................................
16
3.7
Safety Interface Board ...............................................................................................
17
3.8
Resolver Digital Converter .........................................................................................
17
3.9
Controller System Panel ............................................................................................
18
3.10 Low-voltage power supply unit ...................................................................................
18
3.11 24 V external power supply ........................................................................................
18
3.12 Batteries .....................................................................................................................
19
3.13 Mains filter ..................................................................................................................
19
3.14 Bus devices ................................................................................................................
19
3.14.1
KCB devices and configuration variants ...............................................................
20
3.14.2
KSB devices and configuration variants ...............................................................
20
3.14.3
KEB devices and configuration variants ...............................................................
20
3.15 Connection panel interfaces ......................................................................................
22
3.16 Control PC interfaces .................................................................................................
24
3.16.1
Motherboard D2608-K interfaces ..........................................................................
24
3.16.2
Motherboard D3076-K interfaces ..........................................................................
25
3.17 KUKA smartPAD holder (optional) .............................................................................
26
3.18 Cabinet cooling ..........................................................................................................
26
3.19 Description of the mounting plate for customer components .....................................
27
4
Technical data ..............................................................................................
29
4.1
External 24 V power supply .......................................................................................
30
4.2
Safety Interface Board ...............................................................................................
31
4.3
Dimensions of robot controller ...................................................................................
32
4.4
Minimum clearances, robot controller ........................................................................
32
4.5
Swing range for cabinet door .....................................................................................
33
4.6
Dimensions of the smartPAD holder (optional) ..........................................................
34
4.7
Dimensions of boreholes for floor mounting ..............................................................
34
4.8
Dimensions of boreholes for technology cabinet .......................................................
34
4.9
Plates and labels ........................................................................................................
35
5
Safety ............................................................................................................
39
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5.1
General ......................................................................................................................
39
5.1.1
Liability .................................................................................................................
39
5.1.2
Intended use of the industrial robot ......................................................................
39
5.1.3
EC declaration of conformity and declaration of incorporation .............................
40
5.1.4
Terms used ..........................................................................................................
40
5.2
Personnel ..................................................................................................................
42
5.3
Workspace, safety zone and danger zone ................................................................
43
5.4
Triggers for stop reactions .........................................................................................
44
5.5
Safety functions .........................................................................................................
45
5.5.1
Overview of the safety functions ...........................................................................
45
5.5.2
Safety controller ...................................................................................................
46
5.5.3
Mode selection .....................................................................................................
46
5.5.4
Operator safety .....................................................................................................
46
5.5.5
EMERGENCY STOP device ................................................................................
47
5.5.6
Logging off the higher-level safety controller ........................................................
47
5.5.7
External EMERGENCY STOP device ..................................................................
48
5.5.8
Enabling device ....................................................................................................
48
5.5.9
External enabling device ......................................................................................
49
5.5.10
External safe operational stop ..............................................................................
49
5.5.11
External safety stop 1 and external safety stop 2 .................................................
49
5.5.12
Velocity monitoring in T1 ......................................................................................
49
Additional protective equipment ................................................................................
49
5.6.1
Jog mode ..............................................................................................................
49
5.6.2
Software limit switches .........................................................................................
49
5.6.3
Mechanical end stops ...........................................................................................
50
5.6.4
Mechanical axis range limitation (optional) ...........................................................
50
5.6.5
Axis range monitoring (optional) ...........................................................................
50
5.6.6
Devices for moving the manipulator without the robot controller (options) ...........
50
5.6.7
Labeling on the industrial robot ............................................................................
52
5.6.8
External safeguards .............................................................................................
52
5.7
Overview of operating modes and safety functions ...................................................
53
5.8
5.6
53
General safety measures .....................................................................................
53
5.8.2
Transportation ......................................................................................................
54
5.8.3
Start-up and recommissioning ..............................................................................
54
5.8.3.1
Start-up mode .......................................................................................................
56
5.8.4
Manual mode ........................................................................................................
57
5.8.5
Simulation .............................................................................................................
58
5.8.6
Automatic mode ...................................................................................................
58
5.8.7
Maintenance and repair ........................................................................................
58
5.8.8
Decommissioning, storage and disposal ..............................................................
60
5.8.9
Safety measures for “single point of control” ........................................................
60
5.9
Applied norms and regulations ..................................................................................
61
6
Planning ........................................................................................................
63
6.1
Electromagnetic compatibility (EMC) .........................................................................
63
6.2
Installation conditions ................................................................................................
64
6.3
Connection conditions ...............................................................................................
66
6.4
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Safety measures ........................................................................................................
5.8.1
Fastening the KUKA smartPAD holder (optional) ......................................................
67
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Contents
6.5
Power supply connection via X1 Harting connector ...................................................
68
6.6
Description of interface X11 .......................................................................................
68
6.6.1
Interface X11 ........................................................................................................
70
6.6.2
Wiring example for E-STOP circuit and safeguard ...............................................
74
6.6.3
Wiring example for safe inputs and outputs ..........................................................
75
Safety functions via PROFIsafe .................................................................................
77
Schematic circuit diagram of PROFIsafe enabling switch ....................................
81
6.7
6.7.1
6.7.2
SafeOperation via PROFIsafe (optional) ..............................................................
82
6.8
EtherCAT connection on the CIB ...............................................................................
84
6.9
PE equipotential bonding ...........................................................................................
85
6.10 Modifying the system configuration, exchanging devices ..........................................
86
6.11 Performance level ......................................................................................................
87
6.11.1
PFH values of the safety functions .......................................................................
87
Transportation .............................................................................................
89
7.1
Transportation using lifting tackle ..............................................................................
89
7.2
Transportation by fork lift truck ...................................................................................
90
7.3
Transportation by pallet truck .....................................................................................
90
7.4
Transportation with the set of rollers (optional) ..........................................................
91
8
Start-up and recommissioning ...................................................................
93
8.1
Start-up overview .......................................................................................................
93
8.2
Installing the robot controller ......................................................................................
94
8.3
7
Connecting the standard connecting cables ..............................................................
95
8.3.1
Standard motor cables, X20 .................................................................................
96
8.3.2
Motor cables for heavy-duty robot, X20.1 and X20.4 ...........................................
97
8.3.3
Motor cable for external axis, X7.1 (optional) .......................................................
98
8.3.4
Motor cable for external axis, X7.2 (optional) .......................................................
98
8.3.5
Data cables, X21 ..................................................................................................
99
Connecting the palletizing robot connecting cables (optional) ...................................
99
5-axis heavy-duty palletizing robot, motor cables X20.1 And X20.4 .....................
101
8.4
8.4.1
8.4.2
4-axis heavy-duty palletizing robot, motor cables X8 ...........................................
102
8.4.3
5-axis palletizing robot, motor cables X20 ............................................................
103
8.4.4
4-axis palletizing robot, motor cables X20 ............................................................
104
8.4.5
Palletizing robot motor cable for external axis, X7.1 and X7.2 .............................
104
8.5
Fastening the KUKA smartPAD holder (optional) ......................................................
105
8.6
Plugging in the KUKA smartPAD ...............................................................................
105
8.7
Connecting the PE equipotential bonding ..................................................................
106
8.8
Connecting the robot controller to the power supply ..................................................
106
8.9
Reversing the battery discharge protection measures ...............................................
107
8.10 Configuring and connecting connector X11 ...............................................................
107
8.11 System configuration of the industrial robot modified ................................................
108
8.12 Start-up mode ............................................................................................................
108
8.13 Switching on the robot controller ................................................................................
109
9
Operation ......................................................................................................
111
9.1
KUKA smartPAD teach pendant ................................................................................
111
9.1.1
Front view .............................................................................................................
111
9.1.2
Rear view ..............................................................................................................
113
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Maintenance .................................................................................................
115
10.1 Checking SIB relay outputs .......................................................................................
116
10.2 Checking Extended SIB relay outputs .......................................................................
117
10.3 Cleaning the robot controller .....................................................................................
117
Repair ............................................................................................................
119
11.1 Repair and procurement of spare parts .....................................................................
119
11.2 Wiring example X11 ..................................................................................................
120
11.3 Exchanging the external fan ......................................................................................
121
10
11
11.4 Control PC components ............................................................................................
122
11.4.1
Exchanging the control PC ...................................................................................
124
11.4.2
Exchanging the control PC fan .............................................................................
124
11.4.3
Exchanging the motherboard ...............................................................................
126
11.4.4
Exchanging the motherboard battery ...................................................................
126
11.4.5
Exchanging the Dual NIC network card ................................................................
126
11.4.6
Exchanging the hard drive ....................................................................................
127
11.5 Modifying the system configuration, exchanging devices ..........................................
127
11.5.1
Exchanging the KUKA Power Pack ......................................................................
128
11.5.2
Exchanging the KUKA Servo Pack .......................................................................
131
11.5.3
Exchanging the Cabinet Control Unit ...................................................................
133
11.5.4
Exchanging the Safety Interface Board ................................................................
136
11.5.5
Exchanging the Resolver Digital Converter ..........................................................
139
11.6 Exchanging the batteries ...........................................................................................
141
11.7 Exchanging the low-voltage power supply unit ..........................................................
143
11.8 Exchanging the pressure relief plug ..........................................................................
144
11.9 Installing the KUKA System Software (KSS) ............................................................
144
Troubleshooting ..........................................................................................
145
12.1 Cabinet Control Unit LED display ..............................................................................
145
12
12.2 Cabinet Control Unit fusing ........................................................................................
149
12.3 Resolver Digital Converter LED display ....................................................................
150
12.4 Controller System Panel LED display ........................................................................
151
12.5 Controller System Panel LED error display ...............................................................
152
12.6 LAN Onboard LED display ........................................................................................
153
12.7 Safety Interface Board LED display ...........................................................................
154
12.8 Safety Interface Board fuses .....................................................................................
157
12.9 Checking the KUKA Servo Pack ...............................................................................
159
12.10 Checking the KUKA Power Pack ...............................................................................
160
12.11 KPP and KSP error messages ..................................................................................
161
12.12 KPP and KSP warning messages .............................................................................
165
Decommissioning, storage and disposal ..................................................
169
13.1 Decommissioning ......................................................................................................
169
13.2 Storage ......................................................................................................................
169
13.3 Disposal .....................................................................................................................
169
KUKA Service ...............................................................................................
171
14.1 Requesting support ...................................................................................................
171
14.2 KUKA Customer Support ...........................................................................................
171
13
14
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Contents
Index .............................................................................................................
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1 Introduction
1
Introduction
1.1
Industrial robot documentation
The industrial robot documentation consists of the following parts:
Documentation for the manipulator
Documentation for the robot controller
Operating and programming instructions for the KUKA System Software
Documentation relating to options and accessories
Parts catalog on storage medium
Each of these sets of instructions is a separate document.
1.2
Safety
Representation of warnings and notes
These warnings are relevant to safety and must be observed.
These warnings mean that it is certain or highly probable
that death or severe physical injury will occur, if no precautions are taken.
These warnings mean that death or severe physical injury may occur, if no precautions are taken.
These warnings mean that minor physical injuries may
occur, if no precautions are taken.
These warnings mean that damage to property may occur, if no precautions are taken.
These warnings contain references to safety-relevant information or
general safety measures. These warnings do not refer to individual
hazards or individual precautionary measures.
Notes
These hints serve to make your work easier or contain references to further
information.
Tip to make your work easier or reference to further information.
1.3
Trademarks
Windows is a trademark of Microsoft Corporation.
is a trademark of Beckhoff Automation GmbH.
1.4
Terms used
Term
Description
CCU
Cabinet Control Unit
CIB
Cabinet Interface Board
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Term
Description
CSP
Controller System Panel. Display element and
connection point for USB and network
Dual NIC card
Dual network card
EDS
Electronic Data Storage (memory card)
EMD
Electronic Mastering Device
EMC
Electromagnetic compatibility
KCB
KUKA Controller Bus
KCP
The KCP (KUKA Control Panel) teach pendant
has all the operator control and display functions
required for operating and programming the
industrial robot.
The KCP variant for the KR C4 is called KUKA
smartPAD. The general term “KCP”, however, is
generally used in this documentation.
KEB
KUKA Line Interface. Connection to higher-level
control infrastructure (PLC, archiving)
KOI
KUKA Operator Panel Interface
KPC
Control PC
KPP
KUKA Power Pack (drive power supply with
drive controller)
KRL
KUKA Robot Language
KSB
KUKA System Bus. Internal KUKA bus for internal networking of the controllers with each other
KSI
KUKA Service Interface
KSP
KUKA Servo Pack (drive controller)
KSS
KUKA System Software
Manipulator
The robot arm and the associated electrical
installations
RDC
Resolver digital converter.
SATA connections
Data bus for exchanging data between the processor and the hard drive
SG FC
Servo Gun
SIB
Safety Interface Board
US1
Load voltage (24 V) not switched
US2
Load voltage (24 V) switched. Deactivates actuators, for example, when the drives are deactivated
USB
Universal Serial Bus. Bus system for connecting
additional devices to a computer
EA
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KUKA Extension Bus
KLI
External axis (linear unit, Posiflex)
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2 Purpose
2
Purpose
2.1
Target group
This documentation is aimed at users with the following knowledge and skills:
Advanced knowledge of electrical and electronic systems
Advanced knowledge of the robot controller
Advanced knowledge of the Windows operating system
For optimal use of our products, we recommend that our customers
take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be obtained directly from our subsidiaries.
2.2
Intended use
Use
The robot controller is intended solely for operating the following components:
KUKA linear units
Impermissible
misuse
KUKA industrial robots
KUKA positioners
Any use or application deviating from the intended use is deemed to be impermissible misuse; examples of such misuse include:
Transportation of persons and animals
Use as a climbing aid
Operation outside the permissible operating parameters
Use in potentially explosive environments
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3 Product description
3
Product description
3.1
Overview of the industrial robot
The industrial robot consists of the following components:
Manipulator
Robot controller
Teach pendant
Connecting cables
Software
Options, accessories
Fig. 3-1: Example of an industrial robot
1
3
Robot controller
2
3.2
Manipulator
Connecting cables
4
Teach pendant
Overview of the robot controller
The robot controller consists of the following components:
Control PC (KPC)
Low-voltage power supply unit
Drive power supply with drive controller: KUKA Power Pack (KPP)
Drive controller: KUKA Servo Pack (KSP)
Teach pendant (KUKA smartPAD)
Cabinet Control Unit (CCU)
Controller System Panel (CSP)
Safety Interface Board (SIB)
Fuse elements
Batteries
Fans
Connection panel
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Set of rollers (optional)
Fig. 3-2: Overview of robot controller, front view
1
Mains filter
9
2
Main switch
10
SIB/SIB-Extended
CCU
3
CSP
11
Fuse element
4
Control PC
12
Batteries
5
Drive power supply (drive controller for axes 7 and 8, optional)
13
Connection panel
6
Drive controller for axes 4 to 6
14
Set of rollers (optional)
7
Drive controller for axes 1 to 3
15
KUKA smartPAD
8
Brake filter
Fig. 3-3: Overview of robot controller, rear view
1
3
External fan
2
14 / 183
Ballast resistor
Heat exchanger
4
Low-voltage power supply unit
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3 Product description
3.3
KUKA Power Pack
Description
The KUKA Power Pack (KPP) is the drive power supply and generates a rectified intermediate circuit voltage from an AC power supply. This intermediate
circuit voltage is used to supply the internal drive controllers and external
drives. There are 4 different device variants, all having the same size. There
are LEDs on the KPP which indicate the operating state.
KPP without axis amplifier (KPP 600-20)
KPP with amplifier for one axis (KPP 600-20-1x40)
Peak output current 1x40 A
KPP with amplifier for two axes (KPP 600-20-2x40)
Peak output current 2x40 A
KPP with amplifier for one axis (KPP 600-20-1x64)
Peak output current 64 A
Functions
The KPP has the following functions:
Power output with 400 V supply voltage: 14 kW
Rated current: 25 A DC
Connection and disconnection of the supply voltage
Powering of several axis amplifiers from the DC link
Integrated brake chopper through connection of an external ballast resistor
Overload monitoring by the ballast resistor
3.4
KPP central AC power supply connection in interconnected operation
Stopping of synchronous servomotors by means of short-circuit braking
KUKA Servo Pack
Description
The KUKA Servo Pack (KSP) is the drive controller for the manipulator axes.
There are 3 different device variants, all having the same size. There are LEDs
on the KSP which indicate the operating state.
KSP for 3 axes (KSP 600-3x40)
Peak output current 3x 40 A
KSP for 3 axes (KSP 600-3x64)
Peak output current 3x 64 A
KSP for 3 axes (KSP 600-3x20)
Peak output current 3x 20 A
Functions
The KSP has the following functions:
Direct infeed of the DC intermediate circuit voltage
3.5
Power range: 11 kW to 14 kW per axis amplifier
Field-oriented control for servomotors: Torque control
Control PC
PC components
The control PC (KPC) includes the following components:
Power supply unit
Motherboard
Processor
Heat sink
Memory modules
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LAN Dual NIC network card
PC fan
Functions
Hard drive
Optional modules, e.g. field bus cards
The control PC (KPC) is responsible for the following functions of the robot
controller:
Program creation, correction, archiving, and maintenance
Sequence control
Path planning
Control of the drive circuit
Monitoring
Safety equipment
3.6
User interface
Communication with external periphery (other controllers, host computers,
PCs, network)
Cabinet Control Unit
Description
The Cabinet Control Unit (CCU) is the central power distributor and communication interface for all components of the robot controller. The CCU consists
of the Cabinet Interface Board (CIB) and the Power Management Board
(PMB). All data are transferred via this internal communication interface to the
controller for further processing. If the mains voltage fails, the control components continue to be powered by batteries until the position data are saved and
the controller has shut down. The charge and quality of the batteries are
checked by means of a load test.
Functions
Communication interface for the components of the robot controller
Safe inputs and outputs
Control of main contactors 1 and 2
Mastering test
KUKA smartPAD plugged in
6 Fast Measurement inputs for customer applications
Monitoring of the fans in the robot controller
External fan
Control PC fan
Temperature sensing:
Alarm contact for cooling unit
Alarm contact for main switch
Temperature sensor for ballast resistor
Thermostatic switch for transformer
Temperature sensor for internal cabinet temperature
The following components are connected to the KPC via the KUKA Controller Bus:
KPP/KSP
Resolver digital converter
The following operator panels and service devices are connected to the
control PC via the KUKA System Bus:
KUKA Operator Panel Interface
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Diagnostic LEDs
Electronic Data Storage Interface
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3 Product description
Power supply with battery backup
KPP
KSP
KUKA smartPAD
Control PC multicore
Controller System Panel (CSP)
Resolver Digital Converter (RDC)
Standard SIB or Standard and Extended SIB
Power supply without battery backup
External fan
3.7
Motor brakes
Customer interface
Safety Interface Board
Description
The Safety Interface Board (SIB) is an integral part of the safe customer interface. 2 different SIBs are used in the robot controller, the Standard SIB and
the Extended SIB, depending on the configuration of the customer interface.
Each of the 2 boards can be operated on its own or jointly with the other one.
The Standard SIB and the Extended SIB essentially incorporate sensing, control and switching functions. The output signals are provided as electrically isolated outputs.
The Standard SIB contains the following safe inputs and outputs:
5 safe inputs
3 safe outputs
The Extended SIB contains the following safe inputs and outputs:
Functions
8 safe inputs
8 safe outputs
The Standard SIB has the following functions:
Safe inputs and outputs for the digital safety interface of the robot controller
The Extended SIB has the following functions:
Safe inputs and outputs for range selection and range monitoring for the
SafeRobot option
or optionally
3.8
Provision of signals for axis range monitoring
Resolver Digital Converter
Description
The Resolver Digital Converter (RDC) is used to detect the motor position data. 8 resolvers can be connected to the RDC. In addition, the motor temperatures are measured and evaluated. For non-volatile data storage, the EDS is
located in the RDC box.
The RDC is mounted in an RDC box on the base frame of the manipulator.
Functions
The RDC has the following functions:
Safe acquisition of up to 8 motor position data streams via resolver
Detection of up to 8 motor operating temperatures
Communication with the robot controller
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Monitoring of the resolver cables
The following non-volatile data are stored on the EDS:
3.9
Position data
KUKA configuration
Controller System Panel
Description
The Controller System Panel (CSP) is a display element for the operating state
and has the following connections:
USB1
USB2
KLI (optional)
Overview
Fig. 3-4: Arrangement of LEDs and connectors on CSP
Item
Component
Color
Meaning
1
LED 1
Green
Operating LED
2
LED 2
White
Sleep LED
3
LED 3
White
Automatic LED
4
USB 1
-
-
5
USB 2
-
-
6
RJ45
-
KLI
7
Red
Error LED 3
LED 5
Red
Error LED 2
9
3.10
LED 6
8
LED 4
Red
Error LED 1
Low-voltage power supply unit
Description
The low-voltage power supply unit provides power to the components of the
robot controller.
A green LED indicates the operating state of the low-voltage power supply
unit.
3.11
24 V external power supply
External 24 V power supply is possible via the following interfaces:
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3 Product description
RoboTeam X57
If power is supplied externally and the controller is switched off, the SIB is
in the fail-safe state.
Interface X11
Connector X55
Power supply to the KLI switch in the robot controller.
The external power supply to the SIB and CIB boards cannot be isolated. If the
SIB is supplied externally, the CIB is also supplied externally, and vice versa.
3.12
Batteries
Description
3.13
Mains filter
Description
3.14
In the event of a power failure, or if the power is switched off, the batteries enable the robot controller to be shut down in a controlled manner. The batteries
are charged via the CCU and the charge is checked and indicated.
The mains filter (interference suppressor filter) suppresses interference voltages on the power cable.
Bus devices
Overview
Fig. 3-5: Overview of bus devices
1
KSP, left
8
Standard/Extended SIB
2
KSP, middle
9
CCU
3
KPP
10
KUKA Extension Bus (KEB)
4
Dual NIC card
11
RDC
5
Ethernet motherboard
12
Electronic Mastering Device
(EMD)
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6
13
OPI
7
3.14.1
KUKA System Bus (KSB)
KUKA Controller Bus (KCB)
14
KUKA smartPAD
KCB devices and configuration variants
KCB devices
The KCB includes the following devices:
KPP
KSP, middle
KSP, left
RDC
CIB
EMD
Configuration
variants
Application
Config.
EMD
RDC
SG FC
KSP, middle
KSP, left
KPP
KR without
EA
Variant 1
X
X
-
KSP3x40
KSP3x40/
64
KPP0
KR with EA
Variant 2
X
X
-
KSP3x40
KSP3x40/
64
KPP1
KR with 2
EA
Variant 3
X
X
X
KSP3x40
KSP3x40/
64
KPP2
KR with SG
without EA
Variant 4
X
X
X
KSP3x40
KSP3x40/
64
KPP1
KR with 2
SG or 1 SG
and 1 EA
Variant 5
X
X
-
KSP3x40
KSP3x40/
64
KPP2
3.14.2
KSB devices and configuration variants
KSB devices
The KSB includes the following devices:
CIB SION
KCP SION
Standard SIB
Extended SIB
Configuration
variants
Application
Config.
Standard Safety without/with
SOP via PROFIsafe
Variant 1
X
-
Standard Safety via interface
Variant 2
X
X
-
Standard Safety with SOP via interface
Variant 3
X
X
X
3.14.3
Standard SIB
Extended SIB
-
KEB devices and configuration variants
KEB devices
The following devices are KEB devices:
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CIB
PROFIBUS master
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3 Product description
PROFIBUS slave
PROFIBUS master/slave
Expansion of digital I/Os 16/16
DeviceNet master
DeviceNet slave
DeviceNet master/slave
Digital I/Os 16/16
Digital I/Os 16/16/4
Digital I/Os 32/32/4
Digital/analog I/Os 16/16/8
Additional digital I/Os 16/8, welding cabinet (optional)
Configuration
variants
Application
Config.
Bus
Connection of PROFIBUS devices
Variant 1
PROFIBUS master
Connection to line PLC with PROFIBUS interface
Variant 2
PROFIBUS slave
Connection of PROFIBUS devices
Variant 3
PROFIBUS master/slave
Variant 4
PROFIBUS master
Variant 5
PROFIBUS slave
Variant 6
PROFIBUS master/
slave
Connection of 16 dig. inputs and 16
dig. outputs with 0.5 A
Variant 7
Digital I/Os 16/16
Connection of 16 dig. inputs and 16
dig. outputs with 0.5/2 A
Variant 8
Digital I/Os 16/16/4
Connection of 32 dig. inputs and 32
dig. outputs with 0.5/2 A
Variant 9
Digital I/Os 32/32/4
VKR C2-compatible interface for
connection to line PLC
Variant 10
Retrofit
Connection of EtherCAT devices
Variant 11
-
Connection of DeviceNet devices
Variant 12
DeviceNet master
Connection to line PLC with DeviceNet interface
Variant 13
DeviceNet slave
Connection of DeviceNet devices
Variant 14
DeviceNet master/slave
Connection to line PLC with Profibus interface
Connection of PROFIBUS devices
Connection of 16 dig. inputs and 16
dig. outputs with 0.5 A
Connection to line PLC with PROFIBUS interface
Expansion of digital
I/Os 16/16
Connection of 16 dig. inputs and 16
dig. outputs with 0.5 A
Connection of PROFIBUS devices
Connection to line PLC with PROFIBUS interface
Connection of 16 dig. inputs and 16
dig. outputs with 0.5 A
Connection to line PLC with DeviceNet interface
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Application
Config.
Bus
Connection of DeviceNet devices
Variant 15
DeviceNet master
Variant 16
DeviceNet slave
Variant 17
DeviceNet master/
slave
Connection of 16 dig. inputs and 16
dig. outputs with 0.5/2 A and 2 analog inputs
Variant 18
Expansion of digital and analog I/Os 16/16/
2
Connection of 16 dig. inputs and 16
dig. outputs with 0.5/2 A and 2 analog inputs and an additional 16 digital inputs and 8 digital outputs
Variant 19
Expansion of digital I/Os 16/16/2 with additional 16 digital inputs and 8 digital outputs
Connection of 16 dig. inputs and 16
dig. outputs with 0.5 A.
Connection to line PLC with DeviceNet interface
Expansion of digital
I/Os 16/16
Connection of 16 dig. inputs and 16
dig. outputs with 0.5 A.
Connection of DeviceNet devices
Connection to line PLC with DeviceNet interface
Connection of 16 dig. inputs and 16
dig. outputs with 0.5 A.
In the following cases a system modification must be carried out by the customer using WorkVisual after connecting customer-specific devices to the corresponding interfaces:
3.15
Connection of PROFIBUS devices
Connection of EtherCAT devices
Connection panel interfaces
Note
The following safety interfaces can be configured in the robot controller:
Discrete interface X11
PROFIsafe KLI interface X66
The discrete interface X11 and the PROFIsafe interface cannot be
connected and used together.
Only one of the two interfaces can be used at a time.
Overview
The connection panel of the robot controller consists of connections for the following cables:
Power cable / infeed
Motor cables to the manipulator
Data cables to the manipulator
KUKA smartPAD cable
PE cables
Peripheral cables
The configuration of the connection panel varies according to the customerspecific version and the options required.
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3 Product description
Connection panel
Fig. 3-6: Connection panel overview
1
XS1 Power supply connection
2
Slot 1 ( & gt; & gt; & gt; " Assignment of slot 1 " Page 23)
3
Slot 2 ( & gt; & gt; & gt; " Assignment of slot 2 " Page 23)
4
X7.1 Motor connection for external axis 7 (optional)
5
Optional
6
Optional
7
X11 interface
8
Optional
9
Optional
10
X19 smartPAD connection
11
X21 RDC connection
12
X66 PROFIsafe KLI interface
13
X7.2 Motor connection for external axis 8 (optional)
14
PE1 Ground conductor to manipulator
15
PE2 Ground conductor to main infeed
Only interface X11 or the PROFIsafe interface X66 can be configured.
Assignment of
slot 1
Slot 1 can be assigned the following motor connections:
X20.1 Motor connector, heavy-duty robot, axes 1-3
Assignment of
slot 2
X8 Motor connector, heavy-duty palletizing robot, axes 1-3 and 6
Slot 2 can be assigned the following motor connections:
X20 Motor connector, axes 1-6
X20.4 Motor connector, heavy-duty robot, axes 4-6
X20.4 Motor connector, heavy-duty palletizing robot, axes 5 and 6
The optional interfaces in the connection panel are described in the
assembly and operating instructions “Optional Interfaces for KR C4”.
All contactor, relay and valve coils that are connected to the robot
controller by the user must be equipped with suitable suppressor diodes. RC elements and VCR resistors are not suitable.
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3.16
Control PC interfaces
Motherboards
The following motherboard variants can be installed in the control PC:
D2608-K
or
D3076-K
KUKA Roboter GmbH has assembled, tested and supplied the motherboard with an optimum configuration. No liability will be accepted
for modifications to the configuration that have not been carried out
by KUKA Roboter GmbH.
3.16.1
Motherboard D2608-K interfaces
Overview
Fig. 3-7: Motherboard D2608-K interfaces
1
Connector X961, power supply DC 24 V
2
Connector X962, PC fan
3
LAN Dual NIC – KUKA Controller Bus
4
LAN Dual NIC – KUKA Line Interface
5
Field bus cards, slots 1 to 7
6
LAN Onboard – KUKA System Bus
7
8 USB 2.0 ports
Slot assignment
Fig. 3-8: Motherboard D2608-K slot assignment
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3 Product description
Slot
Plug-in card
1
PCI
Field bus
2
PCI
Field bus
3
PCIe
LAN Dual NIC
4
PCIe
Not assigned
5
PCIe
Not assigned
6
PCI
Field bus
7
3.16.2
Type
PCIe
Not assigned
Motherboard D3076-K interfaces
Overview
Fig. 3-9: Motherboard D3076-K interfaces
1
Connector X961, power supply DC 24 V
2
Connector X962, PC fan
3
Field bus cards, slots 1 to 7
4
LAN Dual NIC – KUKA Controller Bus
5
LAN Dual NIC – KUKA System Bus
6
4 USB 2.0 ports
7
DVI-I (VGA support possible via DVI on VGA adapter). The user interface of the controller can only be displayed on an external monitor if
no active operator control device (smartPAD, VRP) is connected to
the controller.
8
4 USB 2.0 ports
9
LAN Onboard (reserved)
10
LAN Onboard – KUKA Line Interface
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Slot assignment
Fig. 3-10: Slot assignment, motherboard D3076-K
Slot
Plug-in card
1
PCI
Field bus
2
PCI
Field bus
3
PCI
Field bus
4
PCI
Field bus
5
PCIe
Not assigned
6
PCIe
Not assigned
7
3.17
Type
PCIe
LAN Dual NIC
KUKA smartPAD holder (optional)
Description
The optional KUKA smartPAD holder can be used to hang up the smartPAD
and its connecting cable on the door of the robot controller or on the safety
fence.
Overview
Fig. 3-11: KUKA smartPAD holder
1
2
3.18
KUKA smartPAD holder
3
Front view
Side view
Cabinet cooling
Description
The control cabinet is divided into two cooling circuits. The inner zone, containing the control and power electronics, is cooled by a heat exchanger. In the
outer zone, the ballast resistor and the heat sinks of the KPP and KSP are
cooled directly by ambient air.
Upstream installation of filter mats at the ventilation slits
causes an increase in temperature, leading to a reduction in the service life of the installed devices!
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3 Product description
Configuration
Fig. 3-12: Cooling circuits
1
6
Air outlet, heat exchanger
2
Heat sink, low-voltage power
supply
7
Air outlet, mains filter
3
Air outlet, KPP
8
Heat exchanger
4
Air outlet, KSP
9
KPC intake duct
5
3.19
Air inlet, external fan
Air outlet, KSP
Description of the mounting plate for customer components
Overview
The mounting plate for customer components can be used for external customer equipment depending on the installed hardware options on the top-hat
rail.
Fig. 3-13: Mounting plate for customer components
1
Mounting plate for customer components
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Technical data
Values
Power dissipation of installed components
max. 20 W
Depth of installed components
approx. 200 mm
Width
300 mm
Height
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Designation
150 mm
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4 Technical data
4
Technical data
Basic data
Cabinet type
KR C4
Color
RAL 7016, door KUKA Orange
Number of axes
max. 8
Weight
IP 54
Sound level according to
DIN 45635-1
average: 67 dB (A)
Installation with other cabinets
(with/without cooling unit)
Side-by-side, clearance 50 mm
Load on cabinet roof with even distribution
Power supply
connection
150 kg
Protection rating
1,500 N
Rated supply voltage
3x400 V AC or 3x480 V AC
The robot controller may only be
connected to grounded-neutral
power supply systems.
Permissible tolerance of rated voltage
Mains frequency
49 ... 61 Hz
System impedance up to the connection point of the robot controller
≤ 300 mΩ
Full-load current
See identification plate
Mains-side fusing
min. 3x25 A slow-blowing, max.
3x32 A slow-blowing, see rating
plate
Equipotential bonding
The common neutral point for the
equipotential bonding conductors
and all protective ground conductors is the reference bus of the
power unit.
Ambient temperature during operation without cooling unit
+5 ... 45 °C (278 ... 318 K)
Ambient temperature during operation with cooling unit
+20 ... 50 °C (293 ... 323 K)
Ambient temperature during storage/transportation with batteries
-25 ... +40 °C (248 ... 313 K)
Ambient temperature during storage/transportation without batteries
-25 ... +70 °C (248 ... 343 K)
Temperature change
max. 1.1 K/min
Humidity class
3k3 acc. to DIN EN 60721-3-3;
1995
Altitude
up to 1000 m above mean sea
level with no reduction in power
Environmental
conditions
Rated voltage ±10%
1000 m ... 4000 m above mean
sea level with a reduction in
power of 5%/1000 m
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To prevent exhaustive discharge and thus destruction of
the batteries, the batteries must be recharged at regular
intervals according to the storage temperature.
If the storage temperature is +20 °C or lower, the batteries must be recharged every 9 months.
If the storage temperature is between +20 °C and +30 °C, the batteries must
be recharged every 6 months.
If the storage temperature is between +30 °C and +40 °C, the batteries must
be recharged every 3 months.
Vibration resistance
Type of loading
r.m.s. acceleration (sustained oscillation)
During transportation
0.37 g
Frequency range (sustained
oscillation)
Acceleration (shock in X/Y/Z
direction)
During continuous
operation
0.1 g
4 - 120 Hz
10 g
Waveform/duration (shock
in X/Y/Z direction)
2.5 g
Half-sine/11 ms
If more severe mechanical stress is expected, the controller must be installed
on anti-vibration components.
Control unit
Supply voltage
DC 27.1 V ± 0.1 V
Control PC
Main processor
See shipping version
DIMM memory modules
See shipping version (min. 2 GB)
Hard disk
See shipping version
Supply voltage
DC 20…27.1 V
Dimensions (WxHxD)
approx. 33x26x8 cm3
Display
Touch-sensitive color display
KUKA smartPAD
600x800 pixels
Display size
Interfaces
USB
Weight
Cable lengths
8.4 "
1.1 kg
For cable designations, standard lengths and optional lengths, please refer to
the operating instructions or assembly instructions of the manipulator.
When using smartPAD cable extensions, only two extensions may be
used. An overall cable length of 50 m may not be exceeded.
4.1
External 24 V power supply
PELV external
power supply
PELV power supply unit acc. to EN
60950 with rated voltage 27 V (18 V
... 30 V), safely isolated
Continuous current
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External voltage
& gt; 8A
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4 Technical data
Cable cross-section of power supply cable
≥ 1 mm2
Cable length of power supply cable
& lt; 50 m, or & lt; 100 m wire length (outgoing and incoming lines)
The cables of the power supply unit must not be routed together with
power-carrying cables.
The minus connection of the external voltage must be grounded by
the customer.
Parallel connection of a basic-insulated device is not permitted.
4.2
Safety Interface Board
SIB outputs
The power contacts must only be fed from a safely isolated PELV
power supply unit. ( & gt; & gt; & gt; 4.1 " External 24 V power supply " Page 30)
Operating voltage, power contacts
≤ 30 V
Current via power contact
min. 10 mA
& lt; 750 mA
Cable lengths (connection of actuators)
& lt; 50 m cable lengths
Cable cross-section (connection of
actuators)
≥ 1 mm2
Switching cycles, Standard SIB
Service life: 20 years
& lt; 100 m wire length (outgoing and
incoming lines)
& lt; 100,000 (corresponds to 13
switching cycles per day)
Switching cycles, Extended SIB
Service life: 20 years
& lt; 780,000 (corresponds to 106
switching cycles per day)
The module must be exchanged when the number of switching cycles is exceeded.
SIB inputs
Switching level of the inputs
The state for the inputs is not
defined for the voltage range 5 V ...
11 V (transition range). Either the
ON state or the OFF state is set.
OFF state for the voltage range
from -3 V to 5 V (OFF range).
ON state for the voltage range from
11 V to 30 V (ON range).
Load current with 24 V supply voltage
& gt; 10 mA
Load current with 18 V supply voltage
& gt; 6.5 mA
Max. load current
& lt; 15 mA
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Cable length, terminal - sensor
& lt; 50 m, or & lt; 100 m wire length (outgoing and incoming lines)
Cable cross-section, test output input connection
& gt; 0.5 mm2
Capacitive load for the test outputs
per channel
& lt; 200 nF
Resistive load for the test outputs
per channel
& lt; 33 Ω
Test outputs A and B are sustained short-circuit proof.
The specified currents flow via the contact element connected to the
input. This must be rated for the maximum current of 15 mA.
4.3
Dimensions of robot controller
The dimensions of the robot controller are indicated in the diagram
( & gt; & gt; & gt; Fig. 4-1 ).
Fig. 4-1: Dimensions
1
2
Side view
3
4.4
Front view
Top view
Minimum clearances, robot controller
The minimum clearances that must be maintained for the robot controller are
indicated in the diagram ( & gt; & gt; & gt; Fig. 4-2 ).
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4 Technical data
Fig. 4-2: Minimum clearances
If the minimum clearances are not maintained, this can
result in damage to the robot controller. The specified
minimum clearances must always be observed.
Certain maintenance and repair tasks on the robot controller
( & gt; & gt; & gt; 10 " Maintenance " Page 115) ( & gt; & gt; & gt; 11 " Repair " Page 119) must
be carried out from the side or from the rear. The robot controller must
be accessible for this. If the side or rear panels are not accessible, it must be
possible to move the robot controller into a position in which the work can be
carried out.
4.5
Swing range for cabinet door
The diagram ( & gt; & gt; & gt; Fig. 4-3 ) shows the swing range for the door.
Fig. 4-3: Swing range for cabinet door
Swing range, standalone cabinet:
Door with computer frame approx. 180°
Swing range, butt-mounted cabinets:
Door approx. 155°
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4.6
Dimensions of the smartPAD holder (optional)
The diagram ( & gt; & gt; & gt; Fig. 4-4 ) shows the dimensions and drilling locations for
mounting on the robot controller or safety fence.
Fig. 4-4: Dimensions and drilling locations for smartPAD holder
4.7
Dimensions of boreholes for floor mounting
The dimensions of the boreholes for floor mounting are indicated in the diagram ( & gt; & gt; & gt; Fig. 4-5 ).
Fig. 4-5: Boreholes for floor mounting
1
4.8
View from below
Dimensions of boreholes for technology cabinet
The diagram ( & gt; & gt; & gt; Fig. 4-6 ) shows the dimensions of the boreholes on the
KR C4 for fastening the technology cabinet.
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4 Technical data
Fig. 4-6: Fastening the technology cabinet
1
View from above
The diagram ( & gt; & gt; & gt; Fig. 4-7 ) shows the dimensions of the boreholes on the
adapter rails for fastening the technology cabinet.
Fig. 4-7: Technology cabinet, fastening on mounting rails
4.9
Plates and labels
Overview
The following plates and labels are attached to the robot controller.
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Fig. 4-8: Plates and labels
The plates may vary slightly from the examples illustrated above depending on the specific cabinet type or as a result of updates.
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4 Technical data
Designations
Plate no.
1
Designation
Robot controller identification plate
2
Hot surface warning sign
3
Hand injury warning sign
4
Warning: read manual
5
Control PC identification plate
6
Warning: ≤ 780 VDC / wait 180 s
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5 Safety
5
Safety
5.1
General
5.1.1
Liability
The device described in this document is either an industrial robot or a component thereof.
Components of the industrial robot:
Manipulator
Robot controller
Teach pendant
Connecting cables
External axes (optional)
e.g. linear unit, turn-tilt table, positioner
Software
Options, accessories
The industrial robot is built using state-of-the-art technology and in accordance with the recognized safety rules. Nevertheless, misuse of the industrial
robot may constitute a risk to life and limb or cause damage to the industrial
robot and to other material property.
The industrial robot may only be used in perfect technical condition in accordance with its intended use and only by safety-conscious persons who are fully aware of the risks involved in its operation. Use of the industrial robot is
subject to compliance with this document and with the declaration of incorporation supplied together with the industrial robot. Any functional disorders affecting the safety of the industrial robot must be rectified immediately.
Safety information
Safety information cannot be held against KUKA Roboter GmbH. Even if all
safety instructions are followed, this is not a guarantee that the industrial robot
will not cause personal injuries or material damage.
No modifications may be carried out to the industrial robot without the authorization of KUKA Roboter GmbH. Additional components (tools, software,
etc.), not supplied by KUKA Roboter GmbH, may be integrated into the industrial robot. The user is liable for any damage these components may cause to
the industrial robot or to other material property.
In addition to the Safety chapter, this document contains further safety instructions. These must also be observed.
5.1.2
Intended use of the industrial robot
The industrial robot is intended exclusively for the use designated in the “Purpose” chapter of the operating instructions or assembly instructions.
Further information is contained in the “Purpose” chapter of the operating instructions or assembly instructions of the industrial robot.
Using the industrial robot for any other or additional purpose is considered impermissible misuse. The manufacturer cannot be held liable for any damage
resulting from such use. The risk lies entirely with the user.
Operating the industrial robot and its options within the limits of its intended
use also involves observance of the operating and assembly instructions for
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the individual components, with particular reference to the maintenance specifications.
Any use or application deviating from the intended use is deemed to be impermissible misuse. This includes e.g.:
Misuse
Use as a climbing aid
Operation outside the permissible operating parameters
Use in potentially explosive environments
Operation without additional safeguards
5.1.3
Transportation of persons and animals
Outdoor operation
EC declaration of conformity and declaration of incorporation
This industrial robot constitutes partly completed machinery as defined by the
EC Machinery Directive. The industrial robot may only be put into operation if
the following preconditions are met:
The industrial robot is integrated into a complete system.
Or: The industrial robot, together with other machinery, constitutes a complete system.
Or: All safety functions and safeguards required for operation in the complete machine as defined by the EC Machinery Directive have been added
to the industrial robot.
Declaration of
conformity
The complete system complies with the EC Machinery Directive. This has
been confirmed by means of an assessment of conformity.
The system integrator must issue a declaration of conformity for the complete
system in accordance with the Machinery Directive. The declaration of conformity forms the basis for the CE mark for the system. The industrial robot must
be operated in accordance with the applicable national laws, regulations and
standards.
The robot controller is CE certified under the EMC Directive and the Low Voltage Directive.
Declaration of
incorporation
The industrial robot as partly completed machinery is supplied with a declaration of incorporation in accordance with Annex II B of the EC Machinery Directive 2006/42/EC. The assembly instructions and a list of essential
requirements complied with in accordance with Annex I are integral parts of
this declaration of incorporation.
The declaration of incorporation declares that the start-up of the partly completed machinery remains impermissible until the partly completed machinery
has been incorporated into machinery, or has been assembled with other parts
to form machinery, and this machinery complies with the terms of the EC Machinery Directive, and the EC declaration of conformity is present in accordance with Annex II A.
The declaration of incorporation, together with its annexes, remains with the
system integrator as an integral part of the technical documentation of the
complete machinery.
5.1.4
Terms used
STOP 0, STOP 1 and STOP 2 are the stop definitions according to EN 602041:2006.
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5 Safety
Term
Description
Axis range
Range of each axis, in degrees or millimeters, within which it may move.
The axis range must be defined for each axis.
Stopping distance
Stopping distance = reaction distance + braking distance
Workspace
The manipulator is allowed to move within its workspace. The workspace is derived from the individual axis ranges.
Operator
(User)
The user of the industrial robot can be the management, employer or
delegated person responsible for use of the industrial robot.
Danger zone
The danger zone consists of the workspace and the stopping distances.
Service life
The service life of a safety-relevant component begins at the time of
delivery of the component to the customer.
The stopping distance is part of the danger zone.
The service life is not affected by whether the component is used in a
robot controller or elsewhere or not, as safety-relevant components are
also subject to ageing during storage.
KCP
The KCP (KUKA Control Panel) teach pendant has all the operator control and display functions required for operating and programming the
industrial robot.
The KCP variant for the KR C4 is called KUKA smartPAD. The general
term “KCP”, however, is generally used in this documentation.
Manipulator
The robot arm and the associated electrical installations
Safety zone
The safety zone is situated outside the danger zone.
Safe operational stop
The safe operational stop is a standstill monitoring function. It does not
stop the robot motion, but monitors whether the robot axes are stationary. If these are moved during the safe operational stop, a safety stop
STOP 0 is triggered.
The safe operational stop can also be triggered externally.
When a safe operational stop is triggered, the robot controller sets an
output to the field bus. The output is set even if not all the axes were stationary at the time of triggering, thereby causing a safety stop STOP 0 to
be triggered.
Safety STOP 0
A stop that is triggered and executed by the safety controller. The safety
controller immediately switches off the drives and the power supply to
the brakes.
Note: This stop is called safety STOP 0 in this document.
Safety STOP 1
A stop that is triggered and monitored by the safety controller. The braking process is performed by the non-safety-oriented part of the robot
controller and monitored by the safety controller. As soon as the manipulator is at a standstill, the safety controller switches off the drives and
the power supply to the brakes.
When a safety STOP 1 is triggered, the robot controller sets an output to
the field bus.
The safety STOP 1 can also be triggered externally.
Note: This stop is called safety STOP 1 in this document.
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Term
Description
Safety STOP 2
A stop that is triggered and monitored by the safety controller. The braking process is performed by the non-safety-oriented part of the robot
controller and monitored by the safety controller. The drives remain activated and the brakes released. As soon as the manipulator is at a standstill, a safe operational stop is triggered.
When a safety STOP 2 is triggered, the robot controller sets an output to
the field bus.
The safety STOP 2 can also be triggered externally.
Note: This stop is called safety STOP 2 in this document.
Stop category 0
The drives are deactivated immediately and the brakes are applied. The
manipulator and any external axes (optional) perform path-oriented
braking.
Stop category 1
The manipulator and any external axes (optional) perform path-maintaining braking. The drives are deactivated after 1 s and the brakes are
applied.
Note: This stop category is called STOP 0 in this document.
Note: This stop category is called STOP 1 in this document.
Stop category 2
The drives are not deactivated and the brakes are not applied. The
manipulator and any external axes (optional) are braked with a pathmaintaining braking ramp.
Note: This stop category is called STOP 2 in this document.
System integrator
(plant integrator)
System integrators are people who safely integrate the industrial robot
into a complete system and commission it.
T1
Test mode, Manual Reduced Velocity ( & lt; = 250 mm/s)
T2
Test mode, Manual High Velocity ( & gt; 250 mm/s permissible)
External axis
Motion axis which is not part of the manipulator but which is controlled
using the robot controller, e.g. KUKA linear unit, turn-tilt table, Posiflex.
5.2
Personnel
The following persons or groups of persons are defined for the industrial robot:
User
Personnel
All persons working with the industrial robot must have read and understood the industrial robot documentation, including the safety
chapter.
User
The user must observe the labor laws and regulations. This includes e.g.:
Personnel
The user must comply with his monitoring obligations.
The user must carry out instructions at defined intervals.
Personnel must be instructed, before any work is commenced, in the type of
work involved and what exactly it entails as well as any hazards which may exist. Instruction must be carried out regularly. Instruction is also required after
particular incidents or technical modifications.
Personnel includes:
System integrator
Operators, subdivided into:
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Start-up, maintenance and service personnel
Operating personnel
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Cleaning personnel
Installation, exchange, adjustment, operation, maintenance and repair must be performed only as specified in the operating or assembly
instructions for the relevant component of the industrial robot and only
by personnel specially trained for this purpose.
System integrator
The industrial robot is safely integrated into a complete system by the system
integrator.
The system integrator is responsible for the following tasks:
Connecting the industrial robot
Performing risk assessment
Implementing the required safety functions and safeguards
Issuing the declaration of conformity
Attaching the CE mark
Operator
Installing the industrial robot
Creating the operating instructions for the complete system
The operator must meet the following preconditions:
Example
The operator must be trained for the work to be carried out.
Work on the industrial robot must only be carried out by qualified personnel. These are people who, due to their specialist training, knowledge and
experience, and their familiarization with the relevant standards, are able
to assess the work to be carried out and detect any potential hazards.
The tasks can be distributed as shown in the following table.
Tasks
Operator
Programmer
System integrator
Switch robot controller
on/off
x
x
x
Start program
x
x
x
Select program
x
x
x
Select operating mode
x
x
x
Calibration
(tool, base)
x
x
Master the manipulator
x
x
Configuration
x
x
Programming
x
x
Start-up
x
Maintenance
x
Repair
x
Decommissioning
x
Transportation
x
Work on the electrical and mechanical equipment of the industrial robot may only be carried out by specially trained personnel.
5.3
Workspace, safety zone and danger zone
Workspaces are to be restricted to the necessary minimum size. A workspace
must be safeguarded using appropriate safeguards.
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The safeguards (e.g. safety gate) must be situated inside the safety zone. In
the case of a stop, the manipulator and external axes (optional) are braked
and come to a stop within the danger zone.
The danger zone consists of the workspace and the stopping distances of the
manipulator and external axes (optional). It must be safeguarded by means of
physical safeguards to prevent danger to persons or the risk of material damage.
Fig. 5-1: Example of axis range A1
1
3
Stopping distance
2
5.4
Workspace
Manipulator
4
Safety zone
Triggers for stop reactions
Stop reactions of the industrial robot are triggered in response to operator actions or as a reaction to monitoring functions and error messages. The following tables show the different stop reactions according to the operating mode
that has been set.
Trigger
Start key released
T1, T2
AUT, AUT EXT
STOP 2
-
STOP key pressed
STOP 2
Drives OFF
STOP 1
“Motion enable” input
drops out
STOP 2
Robot controller switched
off (power failure)
STOP 0
Internal error in nonsafety-oriented part of the
robot controller
STOP 0 or STOP 1
(dependent on the cause of the error)
Operating mode changed
during operation
Safety gate opened (operator safety)
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Safety stop 2
-
Safety stop 1
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Trigger
T1, T2
AUT, AUT EXT
Enabling switch released
Safety stop 2
-
Enabling switch pressed
fully down or error
Safety stop 1
-
E-STOP pressed
Safety stop 1
Error in safety controller
or periphery of the safety
controller
Safety stop 0
5.5
Safety functions
5.5.1
Overview of the safety functions
The following safety functions are present in the industrial robot:
Mode selection
Operator safety (= connection for the guard interlock)
EMERGENCY STOP device
Enabling device
External safe operational stop
External safety stop 1 (not for the controller variants “KR C4 compact sr”
and “KR C4 compact lr”)
External safety stop 2
Velocity monitoring in T1
The safety functions of the industrial robot have the following performance:
Category 3 and Performance Level d in accordance with EN ISO 138491:2008. This corresponds to SIL 2 and HFT 1 in accordance with EN 62061.
This performance only applies under the following conditions, however:
The EMERGENCY STOP device is pressed at least once every 6 months.
The following components are involved in the safety functions:
Safety controller in the control PC
KUKA Control Panel (KUKA smartPAD)
Cabinet Control Unit (CCU)
Resolver Digital Converter (RDC)
KUKA Power Pack (KPP)
KUKA Servo Pack (KSP)
Safety Interface Board (SIB) (if used)
There are also interfaces to components outside the industrial robot and to
other robot controllers.
In the absence of operational safety functions and safeguards, the industrial robot can cause personal injury or
material damage. If safety functions or safeguards are dismantled or deactivated, the industrial robot may not be operated.
During system planning, the safety functions of the overall system
must also be planned and designed. The industrial robot must be integrated into this safety system of the overall system.
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5.5.2
Safety controller
The safety controller is a unit inside the control PC. It links safety-relevant signals and safety-relevant monitoring functions.
Safety controller tasks:
Monitoring the braking ramp
Standstill monitoring (after the stop)
Velocity monitoring in T1
Evaluation of safety-relevant signals
5.5.3
Switching off the drives; applying the brakes
Setting of safety-oriented outputs
Mode selection
The industrial robot can be operated in the following modes:
Manual Reduced Velocity (T1)
Manual High Velocity (T2)
Automatic (AUT)
Automatic External (AUT EXT)
Do not change the operating mode while a program is running. If the
operating mode is changed during program execution, the industrial
robot is stopped with a safety stop 2.
Operating mode
Use
Velocities
T1
For test operation, programming and teaching
Programmed velocity, maximum 250 mm/s
Jog mode:
Jog velocity, maximum 250 mm/
s
T2
Program verification:
For test operation
Program verification:
Programmed velocity
AUT
AUT EXT
5.5.4
Jog mode: Not possible
For industrial robots
without higher-level
controllers
Program mode:
Jog mode: Not possible
For industrial robots
with higher-level controllers, e.g. PLC
Program mode:
Programmed velocity
Programmed velocity
Jog mode: Not possible
Operator safety
The operator safety signal is used for interlocking physical safeguards, e.g.
safety gates. Automatic operation is not possible without this signal. In the
event of a loss of signal during automatic operation (e.g. safety gate is
opened), the manipulator stops with a safety stop 1.
Operator safety is not active in the test modes T1 (Manual Reduced Velocity)
and T2 (Manual High Velocity).
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Following a loss of signal, automatic operation must not
be resumed merely by closing the safeguard; it must first
additionally be acknowledged. It is the responsibility of the system integrator
to ensure this. This is to prevent automatic operation from being resumed inadvertently while there are still persons in the danger zone, e.g. due to the
safety gate closing accidentally.
5.5.5
The acknowledgement must be designed in such a way that an actual
check of the danger zone can be carried out first. Acknowledgement
functions that do not allow this (e.g. because they are automatically triggered by closure of the safeguard) are not permissible.
Failure to observe this may result in death to persons, severe physical injuries or considerable damage to property.
EMERGENCY STOP device
The EMERGENCY STOP device for the industrial robot is the EMERGENCY
STOP device on the KCP. The device must be pressed in the event of a hazardous situation or emergency.
Reactions of the industrial robot if the EMERGENCY STOP device is pressed:
The manipulator and any external axes (optional) are stopped with a safety stop 1.
Before operation can be resumed, the EMERGENCY STOP device must be
turned to release it.
Tools and other equipment connected to the manipulator
must be integrated into the EMERGENCY STOP circuit
on the system side if they could constitute a potential hazard.
Failure to observe this precaution may result in death, severe physical injuries or considerable damage to property.
There must always be at least one external EMERGENCY STOP device installed. This ensures that an EMERGENCY STOP device is available even
when the KCP is disconnected.
( & gt; & gt; & gt; 5.5.7 " External EMERGENCY STOP device " Page 48)
5.5.6
Logging off the higher-level safety controller
If the robot controller is connected to a higher-level safety controller, switching
off the robot controller inevitably terminates this connection.
If the X11 interface is used, this triggers an EMERGENCY STOP for the
overall system.
If the PROFIsafe interface is used, the KUKA safety controller generates
a signal that prevents the higher-level controller from triggering an EMERGENCY STOP for the overall system.
If the PROFIsafe interface is used: In his risk assessment, the system integrator must take into consideration
whether the fact that switching off the robot controller does not trigger an
EMERGENCY STOP of the overall system could constitute a hazard and, if
so, how this hazard can be countered.
Failure to take this into consideration may result in death to persons, severe
physical injuries or considerable damage to property.
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If a robot controller is switched off, the E-STOP device on
the KCP is no longer functional. The user is responsible
for ensuring that the KCP is either covered or removed from the system. This
serves to prevent operational and non-operational EMERGENCY STOP devices from becoming interchanged.
Failure to observe this precaution may result in death to persons, severe
physical injuries or considerable damage to property.
5.5.7
External EMERGENCY STOP device
There must be EMERGENCY STOP devices available at every operator station that can initiate a robot motion or other potentially hazardous situation.
The system integrator is responsible for ensuring this.
There must always be at least one external EMERGENCY STOP device installed. This ensures that an EMERGENCY STOP device is available even
when the KCP is disconnected.
External EMERGENCY STOP devices are connected via the customer interface. External EMERGENCY STOP devices are not included in the scope of
supply of the industrial robot.
5.5.8
Enabling device
The enabling devices of the industrial robot are the enabling switches on the
KCP.
There are 3 enabling switches installed on the KCP. The enabling switches
have 3 positions:
Not pressed
Center position
Panic position
In the test modes, the manipulator can only be moved if one of the enabling
switches is held in the central position.
Releasing the enabling switch triggers a safety stop 2.
Pressing the enabling switch down fully (panic position) triggers a safety
stop 1.
It is possible, for a short time, to hold 2 enabling switches in the center position simultaneously. This makes it possible to adjust grip from one enabling switch to another one. If 2 enabling switches are held
simultaneously in the center position for a longer period of time, this triggers a safety stop after several seconds.
If an enabling switch malfunctions (jams), the industrial robot can be stopped
using the following methods:
Press the enabling switch down fully
Actuate the EMERGENCY STOP system
Release the Start key
The enabling switches must not be held down by adhesive tape or other means or manipulated in any other
way.
Death, serious physical injuries or major damage to property may result.
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5.5.9
External enabling device
External enabling devices are required if it is necessary for more than one person to be in the danger zone of the industrial robot. They are connected to the
robot controller via an interface or via PROFIsafe.
Which interface can be used for connecting external enabling devices
is described in the “Planning” chapter of the robot controller operating
instructions.
External enabling devices are not included in the scope of supply of the industrial robot.
5.5.10
External safe operational stop
The safe operational stop can be triggered via an input on the customer interface. The state is maintained as long as the external signal is FALSE. If the
external signal is TRUE, the manipulator can be moved again. No acknowledgement is required.
5.5.11
External safety stop 1 and external safety stop 2
Safety stop 1 and safety stop 2 can be triggered via an input on the customer
interface. The state is maintained as long as the external signal is FALSE. If
the external signal is TRUE, the manipulator can be moved again. No acknowledgement is required.
No external safety stop 1 is available for the controller variants “sr”
and “lr”.
5.5.12
Velocity monitoring in T1
The velocity at the TCP is monitored in T1 mode. If, due to an error, the velocity exceeds 250 mm/s, a safety stop 0 is triggered.
5.6
Additional protective equipment
5.6.1
Jog mode
In the operating modes T1 (Manual Reduced Velocity) and T2 (Manual High
Velocity), the robot controller can only execute programs in jog mode. This
means that it is necessary to hold down an enabling switch and the Start key
in order to execute a program.
Pressing the enabling switch down fully (panic position) triggers a safety
stop 1.
5.6.2
Releasing the enabling switch triggers a safety stop 2.
Releasing the Start key triggers a STOP 2.
Software limit switches
The axis ranges of all manipulator and positioner axes are limited by means of
adjustable software limit switches. These software limit switches only serve as
machine protection and must be adjusted in such a way that the manipulator/
positioner cannot hit the mechanical end stops.
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The software limit switches are set during commissioning of an industrial robot.
Further information is contained in the operating and programming instructions.
5.6.3
Mechanical end stops
Depending on the robot variant, the axis ranges of the main and wrist axes of
the manipulator are partially limited by mechanical end stops.
Additional mechanical end stops can be installed on the external axes.
If the manipulator or an external axis hits an obstruction
or a mechanical end stop or axis range limitation, this
can result in material damage to the industrial robot. The manipulator must
be taken out of operation and KUKA Roboter GmbH must be consulted before it is put back into operation ( & gt; & gt; & gt; 14 " KUKA Service " Page 171).
5.6.4
Mechanical axis range limitation (optional)
Some manipulators can be fitted with mechanical axis range limitation in axes
A1 to A3. The adjustable axis range limitation systems restrict the working
range to the required minimum. This increases personal safety and protection
of the system.
In the case of manipulators that are not designed to be fitted with mechanical
axis range limitation, the workspace must be laid out in such a way that there
is no danger to persons or material property, even in the absence of mechanical axis range limitation.
If this is not possible, the workspace must be limited by means of photoelectric
barriers, photoelectric curtains or obstacles on the system side. There must be
no shearing or crushing hazards at the loading and transfer areas.
This option is not available for all robot models. Information on specific robot models can be obtained from KUKA Roboter GmbH.
5.6.5
Axis range monitoring (optional)
Some manipulators can be fitted with dual-channel axis range monitoring systems in main axes A1 to A3. The positioner axes may be fitted with additional
axis range monitoring systems. The safety zone for an axis can be adjusted
and monitored using an axis range monitoring system. This increases personal safety and protection of the system.
This option is not available for all robot models. Information on specific robot models can be obtained from KUKA Roboter GmbH.
5.6.6
Devices for moving the manipulator without the robot controller (options)
Description
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The following devices are available for moving the manipulator after an accident or malfunction:
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Release device
The release device can be used for the main axis drive motors and, depending on the robot variant, also for the wrist axis drive motors.
Brake release device
The brake release device is designed for robot variants whose motors are
not freely accessible.
The devices are only for use in exceptional circumstances and emergencies,
e.g. for freeing people.
These options are not available for all robot models. Information on
specific robot models can be obtained from KUKA Roboter GmbH.
The motors reach temperatures during operation which
can cause burns to the skin. Contact must be avoided.
Appropriate safety precautions must be taken, e.g. protective gloves must be
worn.
Procedure
Moving the manipulator with the release device:
1. Switch off the robot controller and secure it (e.g. with a padlock) to prevent
unauthorized persons from switching it on again.
2. Remove the protective cap from the motor.
3. Push the release device onto the corresponding motor and move the axis
in the desired direction.
The directions are indicated with arrows on the motors. It is necessary to
overcome the resistance of the mechanical motor brake and any other
loads acting on the axis.
Moving an axis with the release device can damage the
motor brake. This can result in personal injury and material damage. After using the release device, the motor must be exchanged.
If a robot axis has been moved by the release device, all
robot axes must be remastered. Severe physical injuries
or damage to property may otherwise result.
Procedure
Moving the manipulator with the brake release device:
Use of the brake release device may result in unexpected robot motions, especially sagging of the axes. During
use of the brake release device, attention must be paid to motion of this kind
in order to be able to prevent physical injuries or damage to property. Standing under moving axes is not permitted.
1. Switch off the robot controller and secure it (e.g. with a padlock) to prevent
unauthorized persons from switching it on again.
2. Connect the brake release device to the base frame of the robot:
Unplug connector X30 from interface A1. Plug connector X20 of the brake
release device into interface A1.
3. Select the brakes to be released (main axes, wrist axes) via the selection
switch on the brake release device.
4. Press the button on the hand-held device.
The brakes of the main axes or wrist axes are released and the robot can
be moved manually.
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Further information about the brake release device can be found in
the documentation for the brake release device.
5.6.7
Labeling on the industrial robot
All plates, labels, symbols and marks constitute safety-relevant parts of the industrial robot. They must not be modified or removed.
Labeling on the industrial robot consists of:
Identification plates
Warning labels
Safety symbols
Designation labels
Cable markings
Rating plates
Further information is contained in the technical data of the operating
instructions or assembly instructions of the components of the industrial robot.
5.6.8
External safeguards
The access of persons to the danger zone of the industrial robot must be prevented by means of safeguards. It is the responsibility of the system integrator
to ensure this.
Physical safeguards must meet the following requirements:
They meet the requirements of EN 953.
They prevent access of persons to the danger zone and cannot be easily
circumvented.
They are sufficiently fastened and can withstand all forces that are likely
to occur in the course of operation, whether from inside or outside the enclosure.
They do not, themselves, represent a hazard or potential hazard.
The prescribed minimum clearance from the danger zone is maintained.
Safety gates (maintenance gates) must meet the following requirements:
They are reduced to an absolute minimum.
The interlocks (e.g. safety gate switches) are linked to the operator safety
input of the robot controller via safety gate switching devices or safety
PLC.
Switching devices, switches and the type of switching conform to the requirements of Performance Level d and category 3 according to EN ISO
13849-1.
Depending on the risk situation: the safety gate is additionally safeguarded
by means of a locking mechanism that only allows the gate to be opened
if the manipulator is safely at a standstill.
The button for acknowledging the safety gate is located outside the space
limited by the safeguards.
Further information is contained in the corresponding standards and
regulations. These also include EN 953.
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Other safety
equipment
5.7
Other safety equipment must be integrated into the system in accordance with
the corresponding standards and regulations.
Overview of operating modes and safety functions
The following table indicates the operating modes in which the safety functions
are active.
Safety functions
T1
T2
AUT
AUT EXT
Operator safety
-
-
active
active
EMERGENCY STOP device
active
active
active
active
Enabling device
active
active
-
-
Reduced velocity during program verification
active
-
-
-
Jog mode
active
active
-
-
Software limit switches
active
active
active
active
5.8
Safety measures
5.8.1
General safety measures
The industrial robot may only be used in perfect technical condition in accordance with its intended use and only by safety-conscious persons. Operator
errors can result in personal injury and damage to property.
It is important to be prepared for possible movements of the industrial robot
even after the robot controller has been switched off and locked. Incorrect installation (e.g. overload) or mechanical defects (e.g. brake defect) can cause
the manipulator or external axes to sag. If work is to be carried out on a
switched-off industrial robot, the manipulator and external axes must first be
moved into a position in which they are unable to move on their own, whether
the payload is mounted or not. If this is not possible, the manipulator and external axes must be secured by appropriate means.
In the absence of operational safety functions and safeguards, the industrial robot can cause personal injury or
material damage. If safety functions or safeguards are dismantled or deactivated, the industrial robot may not be operated.
Standing underneath the robot arm can cause death or
serious injuries. For this reason, standing underneath the
robot arm is prohibited!
The motors reach temperatures during operation which
can cause burns to the skin. Contact must be avoided.
Appropriate safety precautions must be taken, e.g. protective gloves must be
worn.
KCP
The user must ensure that the industrial robot is only operated with the KCP
by authorized persons.
If more than one KCP is used in the overall system, it must be ensured that
each KCP is unambiguously assigned to the corresponding industrial robot.
They must not be interchanged.
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The operator must ensure that decoupled KCPs are immediately removed from the system and stored out of
sight and reach of personnel working on the industrial robot. This serves to
prevent operational and non-operational EMERGENCY STOP devices from
becoming interchanged.
Failure to observe this precaution may result in death, severe injuries or considerable damage to property.
The following tasks must be carried out in the case of faults in the industrial
robot:
Faults
Indicate the fault by means of a label with a corresponding warning (tagout).
Keep a record of the faults.
Modifications
Switch off the robot controller and secure it (e.g. with a padlock) to prevent
unauthorized persons from switching it on again.
Eliminate the fault and carry out a function test.
After modifications to the industrial robot, checks must be carried out to ensure
the required safety level. The valid national or regional work safety regulations
must be observed for this check. The correct functioning of all safety circuits
must also be tested.
New or modified programs must always be tested first in Manual Reduced Velocity mode (T1).
After modifications to the industrial robot, existing programs must always be
tested first in Manual Reduced Velocity mode (T1). This applies to all components of the industrial robot and includes modifications to the software and
configuration settings.
5.8.2
Transportation
Manipulator
The prescribed transport position of the manipulator must be observed. Transportation must be carried out in accordance with the operating instructions or
assembly instructions of the manipulator.
Robot controller
The robot controller must be transported and installed in an upright position.
Avoid vibrations and impacts during transportation in order to prevent damage
to the robot controller.
Transportation must be carried out in accordance with the operating instructions or assembly instructions of the robot controller.
External axis
(optional)
5.8.3
The prescribed transport position of the external axis (e.g. KUKA linear unit,
turn-tilt table, etc.) must be observed. Transportation must be carried out in accordance with the operating instructions or assembly instructions of the external axis.
Start-up and recommissioning
Before starting up systems and devices for the first time, a check must be carried out to ensure that the systems and devices are complete and operational,
that they can be operated safely and that any damage is detected.
The valid national or regional work safety regulations must be observed for this
check. The correct functioning of all safety circuits must also be tested.
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The passwords for logging onto the KUKA System Software as “Expert” and “Administrator” must be changed before start-up and must
only be communicated to authorized personnel.
The robot controller is preconfigured for the specific industrial robot. If cables are interchanged, the manipulator and the external axes (optional) may receive incorrect data and can thus
cause personal injury or material damage. If a system consists of more than
one manipulator, always connect the connecting cables to the manipulators
and their corresponding robot controllers.
If additional components (e.g. cables), which are not part of the scope
of supply of KUKA Roboter GmbH, are integrated into the industrial
robot, the user is responsible for ensuring that these components do
not adversely affect or disable safety functions.
If the internal cabinet temperature of the robot controller
differs greatly from the ambient temperature, condensation can form, which may cause damage to the electrical components. Do not
put the robot controller into operation until the internal temperature of the
cabinet has adjusted to the ambient temperature.
Function test
The following tests must be carried out before start-up and recommissioning:
General test:
It must be ensured that:
The industrial robot is correctly installed and fastened in accordance with
the specifications in the documentation.
There are no foreign bodies or loose parts on the industrial robot.
All required safety equipment is correctly installed and operational.
The power supply ratings of the industrial robot correspond to the local
supply voltage and mains type.
The ground conductor and the equipotential bonding cable are sufficiently
rated and correctly connected.
The connecting cables are correctly connected and the connectors are
locked.
Test of the safety functions:
A function test must be carried out for the following safety functions to ensure
that they are functioning correctly:
Local EMERGENCY STOP device
External EMERGENCY STOP device (input and output)
Enabling device (in the test modes)
Operator safety
All other safety-relevant inputs and outputs used
Other external safety functions
Test of reduced velocity control:
This test is to be carried out as follows:
1. Program a straight path with the maximum possible velocity.
2. Calculate the length of the path.
3. Execute the path in T1 mode with the override set to 100% and time the
motion with a stopwatch.
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It must be ensured that no persons are present within the
danger zone during path execution. Death or severe
physical injuries may result.
4. Calculate the velocity from the length of the path and the time measured
for execution of the motion.
Control of reduced velocity is functioning correctly if the following results are
achieved:
Machine data
The calculated velocity does not exceed 250 mm/s.
The manipulator executes the path as programmed (i.e. in a straight line,
without deviations).
It must be ensured that the rating plate on the robot controller has the same
machine data as those entered in the declaration of incorporation. The machine data on the rating plate of the manipulator and the external axes (optional) must be entered during start-up.
The industrial robot must not be moved if incorrect machine data are loaded. Death, severe injuries or considerable damage to property may otherwise result. The correct machine data
must be loaded.
Following modifications to the machine data, the safety configuration must be
checked.
Further information is contained in the Operating and Programming
Instructions for System Integrators.
Following modifications to the machine data, control of the reduced velocity
must be checked.
5.8.3.1
Start-up mode
Description
The industrial robot can be set to Start-up mode via the smartHMI user interface. In this mode, the manipulator can be moved in T1 or CRR mode in the
absence of the safety periphery. (CRR is an operating mode specifically for
use with SafeOperation.)
If the X11 interface is used:
Start-up mode is always possible if all input signals have the state “logic
zero”. If this is not the case, the robot controller prevents or terminates
Start-up mode.
If the PROFIsafe interface is used:
If a connection to a higher-level safety system exists or is established, the
robot controller prevents or terminates Start-up mode.
Hazards
Possible hazards and risks involved in using Start-up mode:
A person walks into the manipulator’s danger zone.
An unauthorized person moves the manipulator.
In a hazardous situation, a disabled external EMERGENCY STOP device
is actuated and the manipulator is not shut down.
Additional measures for avoiding risks in Start-up mode:
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Cover disabled EMERGENCY STOP devices or attach a warning sign indicating that the EMERGENCY STOP device is out of operation.
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5 Safety
Use
If there is no safety fence, other measures must be taken to prevent persons from entering the manipulator’s danger zone, e.g. use of warning
tape.
Use of Start-up mode must be minimized – and avoided where possible –
by means of organizational measures.
Intended use of Start-up mode:
Only service personnel who have received safety instruction may use
Start-up mode.
Start-up in T1 mode or CRR mode when the external safeguards have not
yet been installed or put into operation. The danger zone must be delimited at least by means of warning tape.
Fault localization (periphery fault).
Use of Start-up mode disables all external safeguards.
The service personnel are responsible for ensuring that
there is no-one in or near the danger zone of the manipulator as long as the
safeguards are disabled.
Failure to observe this may result in death to persons, physical injuries or
damage to property.
Misuse
Any use or application deviating from the designated use is deemed to be impermissible misuse. This includes, for example, use by any other personnel.
KUKA Roboter GmbH accepts no liability for damage or injury caused thereby.
The risk lies entirely with the user.
5.8.4
Manual mode
Manual mode is the mode for setup work. Setup work is all the tasks that have
to be carried out on the industrial robot to enable automatic operation. Setup
work includes:
Jog mode
Teach
Programming
Program verification
The following must be taken into consideration in manual mode:
If the drives are not required, they must be switched off to prevent the manipulator or the external axes (optional) from being moved unintentionally.
New or modified programs must always be tested first in Manual Reduced
Velocity mode (T1).
The manipulator, tooling or external axes (optional) must never touch or
project beyond the safety fence.
Workpieces, tooling and other objects must not become jammed as a result of the industrial robot motion, nor must they lead to short-circuits or be
liable to fall off.
All setup work must be carried out, where possible, from outside the safeguarded area.
If the setup work has to be carried out inside the safeguarded area, the following must be taken into consideration:
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In Manual Reduced Velocity mode (T1):
If it can be avoided, there must be no other persons inside the safeguarded area.
If it is necessary for there to be several persons inside the safeguarded area, the following must be observed:
All persons must have an unimpeded view of the industrial robot.
Each person must have an enabling device.
Eye-contact between all persons must be possible at all times.
The operator must be so positioned that he can see into the danger area
and get out of harm’s way.
In Manual High Velocity mode (T2):
Teaching and programming are not permissible in this operating mode.
Before commencing the test, the operator must ensure that the enabling
devices are operational.
The operator must be positioned outside the danger zone.
5.8.5
This mode may only be used if the application requires a test at a velocity
higher than Manual Reduced Velocity.
There must be no other persons inside the safeguarded area. It is the responsibility of the operator to ensure this.
Simulation
Simulation programs do not correspond exactly to reality. Robot programs created in simulation programs must be tested in the system in Manual Reduced
Velocity mode (T1). It may be necessary to modify the program.
5.8.6
Automatic mode
Automatic mode is only permissible in compliance with the following safety
measures:
All safety equipment and safeguards are present and operational.
There are no persons in the system.
The defined working procedures are adhered to.
If the manipulator or an external axis (optional) comes to a standstill for no apparent reason, the danger zone must not be entered until an EMERGENCY
STOP has been triggered.
5.8.7
Maintenance and repair
After maintenance and repair work, checks must be carried out to ensure the
required safety level. The valid national or regional work safety regulations
must be observed for this check. The correct functioning of all safety circuits
must also be tested.
The purpose of maintenance and repair work is to ensure that the system is
kept operational or, in the event of a fault, to return the system to an operational state. Repair work includes troubleshooting in addition to the actual repair
itself.
The following safety measures must be carried out when working on the industrial robot:
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Carry out work outside the danger zone. If work inside the danger zone is
necessary, the user must define additional safety measures to ensure the
safe protection of personnel.
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5 Safety
Switch off the industrial robot and secure it (e.g. with a padlock) to prevent
it from being switched on again. If it is necessary to carry out work with the
robot controller switched on, the user must define additional safety measures to ensure the safe protection of personnel.
If it is necessary to carry out work with the robot controller switched on, this
may only be done in operating mode T1.
Label the system with a sign indicating that work is in progress. This sign
must remain in place, even during temporary interruptions to the work.
The EMERGENCY STOP systems must remain active. If safety functions
or safeguards are deactivated during maintenance or repair work, they
must be reactivated immediately after the work is completed.
Before work is commenced on live parts of the robot system, the main switch must be turned off and secured
against being switched on again. The system must then be checked to ensure that it is deenergized.
It is not sufficient, before commencing work on live parts, to execute an
EMERGENCY STOP or a safety stop, or to switch off the drives, as this does
not disconnect the robot system from the mains power supply in the case of
the drives of the new generation. Parts remain energized. Death or severe
physical injuries may result.
Faulty components must be replaced using new components with the same
article numbers or equivalent components approved by KUKA Roboter GmbH
for this purpose.
Cleaning and preventive maintenance work is to be carried out in accordance
with the operating instructions.
Robot controller
Even when the robot controller is switched off, parts connected to peripheral
devices may still carry voltage. The external power sources must therefore be
switched off if work is to be carried out on the robot controller.
The ESD regulations must be adhered to when working on components in the
robot controller.
Voltages in excess of 50 V (up to 780 V) can be present in various components
for several minutes after the robot controller has been switched off! To prevent
life-threatening injuries, no work may be carried out on the industrial robot in
this time.
Water and dust must be prevented from entering the robot controller.
Counterbalancing system
Some robot variants are equipped with a hydropneumatic, spring or gas cylinder counterbalancing system.
The hydropneumatic and gas cylinder counterbalancing systems are pressure
equipment and, as such, are subject to obligatory equipment monitoring. Depending on the robot variant, the counterbalancing systems correspond to category 0, II or III, fluid group 2, of the Pressure Equipment Directive.
The user must comply with the applicable national laws, regulations and standards pertaining to pressure equipment.
Inspection intervals in Germany in accordance with Industrial Safety Order,
Sections 14 and 15. Inspection by the user before commissioning at the installation site.
The following safety measures must be carried out when working on the counterbalancing system:
The manipulator assemblies supported by the counterbalancing systems
must be secured.
Work on the counterbalancing systems must only be carried out by qualified personnel.
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Hazardous
substances
The following safety measures must be carried out when handling hazardous
substances:
Avoid prolonged and repeated intensive contact with the skin.
Avoid breathing in oil spray or vapors.
Clean skin and apply skin cream.
To ensure safe use of our products, we recommend that our customers regularly request up-to-date safety data sheets from the manufacturers of hazardous substances.
5.8.8
Decommissioning, storage and disposal
The industrial robot must be decommissioned, stored and disposed of in accordance with the applicable national laws, regulations and standards.
5.8.9
Safety measures for “single point of control”
Overview
If certain components in the industrial robot are operated, safety measures
must be taken to ensure complete implementation of the principle of “single
point of control” (SPOC).
Components:
Submit interpreter
PLC
OPC Server
Remote control tools
Tools for configuration of bus systems with online functionality
KUKA.RobotSensorInterface
The implementation of additional safety measures may be required.
This must be clarified for each specific application; this is the responsibility of the system integrator, programmer or user of the system.
Since only the system integrator knows the safe states of actuators in the periphery of the robot controller, it is his task to set these actuators to a safe
state, e.g. in the event of an EMERGENCY STOP.
T1, T2
In the test modes, the components referred to above may only access the industrial robot if the following signals have the following states:
Signal
$USER_SAF
TRUE
$SPOC_MOTION_ENABLE
Submit interpreter, PLC
State required for SPOC
TRUE
If motions, (e.g. drives or grippers) are controlled with the submit interpreter or
the PLC via the I/O system, and if they are not safeguarded by other means,
then this control will take effect even in T1 and T2 modes or while an EMERGENCY STOP is active.
If variables that affect the robot motion (e.g. override) are modified with the
submit interpreter or the PLC, this takes effect even in T1 and T2 modes or
while an EMERGENCY STOP is active.
Safety measures:
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In the test modes, the system variable $OV_PRO must not be written to
by the submit interpreter or the PLC.
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5 Safety
Do not modify safety-relevant signals and variables (e.g. operating mode,
EMERGENCY STOP, safety gate contact) via the submit interpreter or
PLC.
If modifications are nonetheless required, all safety-relevant signals and
variables must be linked in such a way that they cannot be set to a dangerous state by the submit interpreter or PLC.
OPC server,
remote control
tools
These components can be used with write access to modify programs, outputs
or other parameters of the robot controller, without this being noticed by any
persons located inside the system.
Safety measures:
KUKA stipulates that these components are to be used exclusively for diagnosis and visualization.
Programs, outputs or other parameters of the robot controller must not be
modified using these components.
Tools for configuration of bus
systems
If these components are used, outputs that could cause a hazard must be
determined in a risk assessment. These outputs must be designed in such
a way that they cannot be set without being enabled. This can be done using an external enabling device, for example.
If these components have an online functionality, they can be used with write
access to modify programs, outputs or other parameters of the robot controller, without this being noticed by any persons located inside the system.
WorkVisual from KUKA
Tools from other manufacturers
Safety measures:
5.9
In the test modes, programs, outputs or other parameters of the robot controller must not be modified using these components.
Applied norms and regulations
Name
Definition
Edition
2006/42/EC
Machinery Directive:
2006
Directive 2006/42/EC of the European Parliament and of
the Council of 17 May 2006 on machinery, and amending
Directive 95/16/EC (recast)
2004/108/EC
EMC Directive:
2004
Directive 2004/108/EC of the European Parliament and of
the Council of 15 December 2004 on the approximation of
the laws of the Member States relating to electromagnetic
compatibility and repealing Directive 89/336/EEC
97/23/EC
Pressure Equipment Directive:
1997
Directive 97/23/EC of the European Parliament and of the
Council of 29 May 1997 on the approximation of the laws
of the Member States concerning pressure equipment
(Only applicable for robots with hydropneumatic counterbalancing system.)
EN ISO 13850
Safety of machinery:
EN ISO 13849-1
Safety of machinery:
2008
Emergency stop - Principles for design
2008
Safety-related parts of control systems - Part 1: General
principles of design
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Name
Definition
Edition
EN ISO 13849-2
Safety of machinery:
2008
Safety-related parts of control systems - Part 2: Validation
EN ISO 12100
Safety of machinery:
2010
General principles of design, risk assessment and risk
reduction
EN ISO 10218-1
Industrial robots:
2011
Safety
EN 614-1
2006
Safety of machinery:
Ergonomic design principles - Part 1: Terms and general
principles
EN 61000-6-2
Electromagnetic compatibility (EMC):
2005
Part 6-2: Generic standards; Immunity for industrial environments
EN 61000-6-4
Electromagnetic compatibility (EMC):
2007
Part 6-4: Generic standards; Emission standard for industrial environments
EN 60204-1
Safety of machinery:
2006
Electrical equipment of machines - Part 1: General
requirements
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6 Planning
6
Planning
Overview
Step
Description
Information
1
( & gt; & gt; & gt; 6.1 " Electromagnetic compatibility (EMC) " Page 63)
2
Installation conditions for
robot controller
( & gt; & gt; & gt; 6.2 " Installation conditions " Page 64)
3
Connection conditions
( & gt; & gt; & gt; 6.3 " Connection conditions " Page 66)
4
Mounting the KUKA smartPAD holder (optional)
( & gt; & gt; & gt; 4.6 " Dimensions of the
smartPAD holder (optional) "
Page 34)
5
Power supply connection
( & gt; & gt; & gt; 6.5 " Power supply connection via X1 Harting connector "
Page 68)
6
Configure interface X11
( & gt; & gt; & gt; 6.6.1 " Interface X11 "
Page 70) ( & gt; & gt; & gt; 6.6.2 " Wiring
example for E-STOP circuit and
safeguard " Page 74)
( & gt; & gt; & gt; 6.6.3 " Wiring example for
safe inputs and outputs "
Page 75)
7
Configure the PROFIsafe
interface
( & gt; & gt; & gt; 6.7 " Safety functions via
PROFIsafe " Page 77)
( & gt; & gt; & gt; 6.7.1 " Schematic circuit
diagram of PROFIsafe enabling
switch " Page 81)
( & gt; & gt; & gt; 6.7.2 " SafeOperation via
PROFIsafe (optional) " Page 82)
8
EtherCAT connection on
CIB
( & gt; & gt; & gt; 6.8 " EtherCAT connection
on the CIB " Page 84)
9
PE equipotential bonding
( & gt; & gt; & gt; 6.9 " PE equipotential
bonding " Page 85)
10
Modification of the system
structure, exchange of
devices
( & gt; & gt; & gt; 11.5 " Modifying the system
configuration, exchanging
devices " Page 127)
11
6.1
Electromagnetic compatibility (EMC)
Performance Level
( & gt; & gt; & gt; 6.11 " Performance level "
Page 87)
Electromagnetic compatibility (EMC)
Description
If connecting cables (e.g. field buses, etc.) are routed to the control PC from
outside, only shielded cables with an adequate degree of shielding may be
used. The cable shield must be connected with maximum surface area to the
PE rail in the cabinet using shield terminals (screw-type, no clamps).
The robot controller corresponds to EMC class A, Group 1, in accordance with EN 55011 and is intended for use in an industrial setting.
Ascertaining the electromagnetic compatibility in other environments
can result in difficulties due to conducted and radiated disturbance that may
occur.
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6.2
Installation conditions
The dimensions of the robot controller are indicated in the diagram
( & gt; & gt; & gt; Fig. 6-1 ).
Fig. 6-1: Dimensions
1
Front view
2
Side view
3
Top view
The minimum clearances that must be maintained for the robot controller are
indicated in the diagram ( & gt; & gt; & gt; Fig. 6-2 ).
Fig. 6-2: Minimum clearances
If the minimum clearances are not maintained, this can
result in damage to the robot controller. The specified
minimum clearances must always be observed.
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6 Planning
Certain maintenance and repair tasks on the robot controller
( & gt; & gt; & gt; 10 " Maintenance " Page 115) ( & gt; & gt; & gt; 11 " Repair " Page 119) must
be carried out from the side or from the rear. The robot controller must
be accessible for this. If the side or rear panels are not accessible, it must be
possible to move the robot controller into a position in which the work can be
carried out.
The diagram ( & gt; & gt; & gt; Fig. 6-3 ) shows the swing range for the door.
Fig. 6-3: Swing range for cabinet door
Swing range, standalone cabinet:
Door with computer frame approx. 180°
Swing range, butt-mounted cabinets:
Robot controller
stacked
Door approx. 155°
One robot controller can be stacked one on top of another one. The upper robot controller must be screwed securely to the lower one using the 4 tapped
holes of the eyebolts. The lower robot controller must not be mounted on rollers and must be fastened to the floor.
A stacked robot controller is illustrated in the diagram ( & gt; & gt; & gt; Fig. 6-4 ).
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Fig. 6-4: Stacked robot controller
6.3
Connection conditions
Power supply
connection
Rated supply voltage
3x400 V AC or 3x480 V AC
The robot controller may only be
connected to grounded-neutral
power supply systems.
Permissible tolerance of rated voltage
Rated voltage ±10%
Mains frequency
49 ... 61 Hz
System impedance up to the connection point of the robot controller
≤ 300 mΩ
Full-load current
See identification plate
Mains-side fusing
min. 3x25 A slow-blowing, max.
3x32 A slow-blowing, see rating
plate
Equipotential bonding
The common neutral point for the
equipotential bonding conductors
and all protective ground conductors is the reference bus of the
power unit.
If the robot controller is connected to a power system
without a grounded neutral, this may cause malfunctions in the robot controller and material damage to the power supply units.
Electrical voltage can cause physical injuries. The robot controller may only
be operated with grounded-neutral power supply systems.
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6 Planning
If the robot controller is operated with a supply voltage
other than that specified on the rating plate, this may
cause malfunctions in the robot controller and material damage to the power
supply units. The robot controller may only be operated with the supply voltage specified on the rating plate.
The appropriate machine data must be loaded in accordance with the
rated supply voltage.
If use of a residual-current circuit-breaker (RCCB) is planned, we recommend the following RCCB: trip current difference 300 mA per robot
controller, universal-current sensitive, selective.
Cable lengths
For cable designations, standard lengths and optional lengths, please refer to
the operating instructions or assembly instructions of the manipulator.
When using smartPAD cable extensions, only two extensions may be
used. An overall cable length of 50 m may not be exceeded.
PELV external
power supply
External voltage
PELV power supply unit acc. to EN
60950 with rated voltage 27 V (18 V
... 30 V), safely isolated
Continuous current
& gt; 8A
Cable cross-section of power supply cable
≥ 1 mm2
Cable length of power supply cable
& lt; 50 m, or & lt; 100 m wire length (outgoing and incoming lines)
The cables of the power supply unit must not be routed together with
power-carrying cables.
The minus connection of the external voltage must be grounded by
the customer.
Parallel connection of a basic-insulated device is not permitted.
6.4
Fastening the KUKA smartPAD holder (optional)
Overview
The smartPAD holder can be installed on the door of the robot controller or on
the safety fence.
The following diagram ( & gt; & gt; & gt; Fig. 6-5 ) shows the options for fastening the
smartPAD holder.
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Fig. 6-5: smartPAD holder
1
3
Door of robot controller
2
6.5
M6x12 Allen screw
Spring lock washer A6.1 and
plain washer
4
Iron flat for fence mounting
Power supply connection via X1 Harting connector
Description
A Harting connector bypack is supplied with the robot controller. The customer
can connect the robot controller to the power supply via connector X1.
If the robot controller is connected to a rated supply voltage greater
than 400 V without a transformer, the power cable to X1 must be
shielded. The shield must be connected to ground on at least one
side.
Fig. 6-6: Power supply connection X1
1
6.6
Power supply connection X1
Description of interface X11
Description
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Harting connector bypack (optional)
2
EMERGENCY STOP devices must be connected via interface X11 or linked
together by means of higher-level controllers (e.g. PLC). ( & gt; & gt; & gt; " SIB outputs "
Page 31)
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6 Planning
Wiring
Take the following points into consideration when wiring interface X11:
System concept
Safety concept
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6.6.1
Interface X11
Connector pin
allocation
Fig. 6-7: Interface X11, connector pin allocation
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6 Planning
Fig. 6-8: Interface X11, connector pin allocation for external enabling
switch
Signal
Pin
Description
Comments
Test output A
1
-
(test signal)
3
Makes the pulsed voltage available for the individual interface
inputs of channel A.
Makes the clocked voltage available for the individual interface
inputs of channel B.
-
Safe operational stop input for all
axes
Activation of standstill monitoring
Safety stop (Stop 2) input for all
axes
Triggering of Stop 2 and activation of standstill monitoring at
standstill of all axes.
5
7
9
11
13
Test output B
19
(test signal)
21
23
25
27
29
31
Safe operational
stop, channel A
8
Safe operational
stop, channel B
26
Safety stop, Stop
2 channel A
10
Safety stop, Stop
2 channel B
28
Local E-STOP
channel A
37
Local E-STOP
channel B
55
Stop 0 is initiated if the activated
monitoring is violated.
Stop 0 is initiated if the activated
monitoring is violated.
38
Output, floating contacts from
internal E-STOP, ( & gt; & gt; & gt; " SIB outputs " Page 31)
56
The contacts are closed if the
following conditions are met:
E-STOP on smartPAD not
actuated
Controller switched on and
operational
The contacts open if any condition is not met.
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Signal
Pin
Description
Comments
External E-STOP
channel A
2
Dual-channel E-STOP input,
( & gt; & gt; & gt; " SIB inputs " Page 31)
Triggering of the E-STOP function in the robot controller.
External E-STOP
channel B
20
Acknowledge
operator safety,
channel A
6
Acknowledge
operator safety,
channel B
24
For connection of a dual-channel
input for acknowledging operator
safety with floating contacts,
( & gt; & gt; & gt; " SIB inputs " Page 31)
The response of the “Operator
safety acknowledgement” input
can be configured in the KUKA
system software.
External enabling
1 channel A
12
External enabling
1 channel B
30
External enabling
2 channel A
14
External enabling
2 channel B
32
Operator safety,
channel A
4
Operator safety,
channel B
After closing the safety gate
(operator safety), manipulator
motion can be enabled in the
automatic modes using an
acknowledge button outside the
safety fence. This function is
deactivated on delivery.
For connection of an external 2channel enabling switch 1 with
floating contacts.
If no external enabling switch 1
is connected, channel A pins 11/
12 and channel B 29/30 must be
jumpered. Only effective in
TEST modes. ( & gt; & gt; & gt; " Function of
external axis enabling switch "
Page 73)
For connection of an external 2channel enabling switch 2 with
floating contacts.
If no external enabling switch 2
is connected, channel A pins 13/
14 and channel B 31/32 must be
jumpered. Only effective in
TEST modes. ( & gt; & gt; & gt; " Function of
external axis enabling switch "
Page 73)
22
For 2-channel connection of a
safety gate locking mechanism,
( & gt; & gt; & gt; " SIB inputs " Page 31)
As long as the signal is active,
the drives can be switched on.
Only effective in the AUTOMATIC modes.
Peri enabled
channel A
41
Output, floating contacts
( & gt; & gt; & gt; " Signal “Peri enabled” "
Page 73)
Peri enabled
channel B
59
Acknowledge
operator safety,
channel A
39
Output, floating contact for operator safety acknowledgement,
connection 1
40
Output, floating contact for operator safety acknowledgement,
connection 2
57
Output, floating contact for operator safety acknowledgement,
connection 1
58
Output, floating contact for operator safety acknowledgement,
connection 2
Acknowledge
operator safety,
channel B
Connector X11,
contact diagram
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42
Output, floating contacts
60
Relaying of the acknowledge
operator safety input signal to
other robot controllers at the
same safety fencing.
The counterpart to interface X11 is a 108-contact Harting connector
with a male insert, type Han 108DD, housing size 24B.
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6 Planning
Fig. 6-9: Contact diagram, view from connection side
Screwed connection: M32
Outer diameter of cable: 14 ... 21 mm
Recommended wire cross-section: 0.75 mm2
Function of
external axis
enabling switch
External enabling 1
Enabling switch must be pressed for jogging in T1 or T2. Input is closed.
External enabling 2
Enabling switch is not in the panic position. Input is closed.
If a smartPAD is connected, its enabling switches and the external enabling are ANDed.
Function
External
enabling 1
External
enabling 2
Switch position
Safety stop 1 (drives switched off
when axis at standstill)
Input open
Input open
No operational
state
Safety stop 2 (safe operational stop,
drives switched on)
Input open
Input closed
Not pressed
Safety stop 1 (drives switched off
when axis at standstill)
Input closed
Input open
Panic position
Axes enabled (axis jogging possible)
Input closed
Input closed
Center position
(only active for T1 and T2)
Signal “Peri
enabled”
The signal “Peri enabled” is set to 1 (active) if the following conditions are met:
Drives are activated.
Safety controller motion enable signal present.
The message “Operator safety open” must not be active.
This message is only active in the modes T1 and T2.
“Peri enabled” in conjunction with the signal “Safe operational stop”
In the case of activation of the signal “Safe operational stop” during the
motion:
Error - & gt; braking with Stop 0. “Peri enabled” eliminated.
Activation of the signal “Safe operational stop” with the manipulator stationary:
Release the brakes, switch drives to servo-control and monitor for restart.
“Peri enabled” remains active.
Signal “Motion enable” remains active.
US2 voltage (if present) remains active.
Signal “Peri enabled” remains active.
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“Peri enabled” in conjunction with the signal “Safety stop 2”
In the case of activation of the signal “Safety stop 2”:
Stop 2 of the manipulator.
Signal “Drive enable” remains active.
Brakes remain released.
Manipulator remains under servo-control.
Monitoring for restart active.
Signal “Motion enable” is deactivated.
US2 voltage (if present) is deactivated.
Signal “Peri enabled” is deactivated.
In the cabling for the input signals and test signals in the system, suitable measures must be taken to prevent a cross-connection between
the voltages (e.g. separate cabling of input signals and test signals).
In the cabling for the output signals and test signals in the system,
suitable measures must be taken to prevent a cross-connection between the output signals of a channel (e.g. separate cabling).
6.6.2
Wiring example for E-STOP circuit and safeguard
Description
The EMERGENCY STOP devices are connected to X11 in the robot controller.
EMERGENCY
STOP
The EMERGENCY STOP devices on the robot controller
must be integrated into the EMERGENCY STOP circuit
of the system by the system integrator.
Failure to do this may result in death, severe physical injuries or considerable
damage to property.
Fig. 6-10: Wiring example: EMERGENCY STOP
Safety gate
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A dual-channel acknowledge button must be installed outside the physical
safeguard. The closing of the safety gate must be confirmed by pressing the
acknowledge button before the industrial robot can be started again in Automatic mode.
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6 Planning
The safety gate on the robot controller must be integrated into the safeguard circuit of the system by the system
integrator.
Failure to do this may result in death, severe physical injuries or considerable
damage to property.
Fig. 6-11: Wiring example: Operator safety with safety gate
6.6.3
Wiring example for safe inputs and outputs
Safe input
The switch-off capability of the inputs is monitored cyclically.
The inputs of the SIB are of dual-channel design with external testing. The
dual-channel operation of the inputs is monitored cyclically.
The following diagram illustrates the connection of a safe input to a floating
contact provided by the customer.
Fig. 6-12: Connection schematic for safe input
1
Safe input, SIB
2
SIB/CIB sr
3
Robot controller
4
Interface X11 (XD211) or X13 (XD213)
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KR C4
5
Test output channel B
6
Test output channel A
7
Input X, channel A
8
Input X, channel B
9
System side
10
Floating contact
Test outputs A and B are fed with the supply voltage of the SIB. Test outputs
A and B are sustained short-circuit proof. The test outputs must only be used
to supply the SIB inputs, and for no other purpose.
The wiring example can be used to achieve compliance with SIL2 (DIN EN
62061), Cat. 3 (DIN EN 13849).
The switch-off capability of the inputs is tested cyclically. For this, the test
outputs TA_A and TA_B are switched off alternately.
The switch-off pulse length is defined for the SIBs as t1 = 625 μs (125 μs
– 2.375 ms).
The duration t2 between two switch-off pulses on one channel is 106 ms.
The input channel SIN_x_A must be supplied by the test signal TA_A. The
input channel SIN_x_B must be supplied by the test signal TA_B. No other
power supply is permissible.
It is only permitted to connect sensors which allow the connection of test
signals and which provide floating contacts.
Dynamic testing
The signals TA_A and TA_B must not be significantly delayed by the
switching element.
Switch-off pulse
diagram
Fig. 6-13: Switch-off pulse diagram, test outputs
t1
Switch-off pulse length (fixed or configurable)
t2
Switch-off period per channel (106 ms)
t3
Offset between switch-off pulses of both channels (53 ms)
TA/A
Test output channel A
TA/B
Test output channel B
SIN_X_A
SIN_X_B
Safe output
Input X, channel A
Input X, channel B
On the SIB, the outputs are provided as dual-channel floating relay outputs.
The following diagram illustrates the connection of a safe output to a safe input
provided by the customer with external test facility. The input used by the customer must be monitored externally for cross-connection.
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Fig. 6-14: Connection schematic for safe output
1
SIB
2
Robot controller
3
Interface X11 (XD211) or X13 (XD213)
4
Output wiring
5
System side
6
Safe input (Fail Safe PLC, safety switching device)
7
Test output channel B
8
Test output channel A
9
Input X, channel A
10
Input X, channel B
The wiring example shown can be used to achieve compliance with SIL2 (DIN
EN 62061), Cat. 3 (DIN EN 13849).
6.7
Safety functions via PROFIsafe
Description
The exchange of safety-relevant signals between the controller and the system is carried out via PROFIsafe. The assignment of the input and output
states in the PROFIsafe protocol is listed below. In addition, non-safety-oriented information from the safety controller is sent to the non-safe section of the
higher-level controller for the purpose of diagnosis and control.
Reserved bits
Reserved safe inputs can be pre-assigned by a PLC with the values 0 or 1. In
both cases, the manipulator will move. If a safety function is assigned to a reserved input (e.g. in the case of a software update) and if this input is preset
with the value 0, then the manipulator would either not move or would unexpectedly come to a standstill.
KUKA recommends pre-assignment of the reserved inputs with 1. If
a reserved input has a new safety function assigned to it, and the input is not used by the customer’s PLC, the safety function is not activated. This prevents the safety controller from unexpectedly stopping the
manipulator.
Input byte 0
Bit
0
Signal
RES
Description
Reserved 1
The value 1 must be assigned to the input.
1
NHE
Input for external Emergency Stop
0 = external E-STOP is active
1 = external E-STOP is not active
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KR C4
Bit
2
Signal
BS
Description
Operator safety
0 = operator safety is not active, e.g. safety gate open
1 = operator safety is active
3
QBS
Acknowledgement of operator safety
Precondition for acknowledgement of operator safety
is the signal " Operator safety assured " set in the BS
bit.
Note: If the “BS” signal is acknowledged by the system, this must be specified under Hardware options
in the safety configuration. Information is contained in
the Operating and Programming Instructions for System Integrators.
0 = operator safety has not been acknowledged
Edge 0 - & gt; 1 = operator safety has been acknowledged
4
SHS1
Safety STOP 1 (all axes)
FF (motion enable) is set to 0.
Voltage US2 is switched off.
AF (drives enable) is set to 0 after 1.5 s.
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY
STOP function.
0 = safety stop is active
1 = safety stop is not active
5
SHS2
Safety STOP 2 (all axes)
FF (motion enable) is set to 0.
Voltage US2 is switched off.
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY
STOP function.
0 = safety stop is active
1 = safety stop is not active
6
-
7
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RES
RES
-
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Input byte 1
Bit
0
Signal
US2
Description
Supply voltage US2 (signal for switching the second
supply voltage, US2, without battery backup)
If this output is not used, it should be set to 0.
0 = switch off US2
1 = switch on US2
Note: Whether and how input US2 is used must be
specified under Hardware options in the safety configuration. Information is contained in the Operating
and Programming Instructions for System Integrators.
1
SBH
Safe operational stop (all axes)
Precondition: All axes are stationary
Cancelation of this function does not require acknowledgement.
This function is not permissible for the EMERGENCY
STOP function.
0 = safe operational stop is active.
1 = safe operational stop is not active.
2
RES
Reserved 11
The value 1 must be assigned to the input.
3
RES
Reserved 12
4
RES
Reserved 13
The value 1 must be assigned to the input.
The value 1 must be assigned to the input.
5
RES
Reserved 14
The value 1 must be assigned to the input.
6
RES
Reserved 15
The value 1 must be assigned to the input.
7
SPA
Shutdown PROFIsafe Acknowledge
The system confirms that it has received the shutdown signal. A second after the “SP” (Shutdown
PROFIsafe) signal has been set by the controller, the
requested action is executed, without the need for
confirmation from the PLC, and the controller shuts
down.
0 = confirmation is not active
1 = confirmation is active
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KR C4
Output byte 0
Bit
0
Signal
NHL
Description
Local E-STOP (local E-STOP triggered)
0 = local E-STOP is active
1 = local E-STOP is not active
1
AF
Drives enable (the internal safety controller in the
KRC has enabled the drives so that they can be
switched on)
0 = drives enable is not active (the robot controller
must switch the drives off)
1 = drives enable is active (the robot controller must
switch the drives to servo-control)
2
FF
Motion enable (the internal safety controller in the
KRC has enabled robot motions)
0 = motion enable is not active (the robot controller
must stop the current motion)
1 = motion enable is active (the robot controller may
trigger a motion)
3
ZS
One of the enabling switches is in the center position
(enabling in test mode)
0 = enabling is not active
1 = enabling is active
4
PE
The signal “Peri enabled” is set to 1 (active) if the following conditions are met:
Drives are activated.
Safety controller motion enable signal present.
The message “Operator safety open” must not be
active.
( & gt; & gt; & gt; " Signal “Peri enabled” " Page 73)
5
AUT
The manipulator is in AUT or AUT EXT mode.
0 = AUT or AUT EXT mode is not active
1 = AUT or AUT EXT mode is active
6
T1
The manipulator is in Manual Reduced Velocity
mode.
0 = T1 mode is not active
1 = T1 mode is active
7
T2
The manipulator is in Manual High Velocity mode.
0 = T2 mode is not active
1 = T2 mode is active
Output byte 1
Bit
0
Signal
NHE
Description
External E-STOP has been triggered.
0 = external E-STOP is active
1 = external E-STOP is not active
1
BS
Operator safety
0 = operator safety is not assured
1 = operator safety is assured (input BS = 1 and, if
configured, input QBS acknowledged)
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Bit
2
Signal
SHS1
Description
Safety stop 1 (all axes)
0 = Safety stop 1 is not active
1 = Safety stop 1 is active (safe state reached)
3
SHS2
Safety stop 2 (all axes)
0 = Safety stop 2 is not active
1 = Safety stop 2 is active (safe state reached)
4
RES
Reserved 13
5
RES
Reserved 14
6
PSA
PROFIsafe active (display of state of robot controller
as PROFIsafe device bus device)
Precondition: PROFINET must be installed on the
controller.
0 = robot controller on PROFIsafe bus is not active
1 = robot controller on PROFIsafe bus is active
7
SP
Shutdown PROFIsafe (the robot controller
announces termination of the PROFIsafe connection)
If the PLC transmits the SPA signal as confirmation
after receiving the SP signal, PSA is set to 0 and the
controller is shut down.
One second after the SP signal has been set, the
PSA output is reset by the robot controller, without
confirmation from the PLC, and the controller is shut
down.
0 = announcement of termination of connection is not
active
1 = announcement of termination of connection is
active
6.7.1
Schematic circuit diagram of PROFIsafe enabling switch
Description
An external enabling switch can be connected to the higher-level safety controller. The signals (ZSE make contact and External panic break contact) must
be correctly linked to the PROFIsafe signals in the safety controller. The resulting PROFIsafe signals must then be routed to the PROFIsafe of the KR
C4. The response to the external enabling switch is then identical to that for a
discretely connected X11.
Signals
Fig. 6-15: Schematic circuit diagram of external enabling switch
Enabling switch center position (make contact closed (1) = enabled) OR
AUT at SHS2
Panic (break contact open (0) = panic position) = AND not AUT at SHS1
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KR C4
6.7.2
SafeOperation via PROFIsafe (optional)
Description
The components of the industrial robot move within the limits that have been
configured and activated. The actual positions are continuously calculated and
monitored against the safety parameters that have been set. The safety controller monitors the industrial robot by means of the safety parameters that
have been set. If a component of the industrial robot violates a monitoring limit
or a safety parameter, the manipulator and external axes (optional) are
stopped. The PROFIsafe interface can be used, for example, to signal a violation of safety monitoring functions.
Reserved bits
Reserved safe inputs can be pre-assigned by a PLC with the values 0 or 1. In
both cases, the manipulator will move. If a safety function is assigned to a reserved input (e.g. in the case of a software update) and if this input is preset
with the value 0, then the manipulator would either not move or would unexpectedly come to a standstill.
KUKA recommends pre-assignment of the reserved inputs with 1. If
a reserved input has a new safety function assigned to it, and the input is not used by the customer’s PLC, the safety function is not activated. This prevents the safety controller from unexpectedly stopping the
manipulator.
Input byte 2
Bit
Signal
Description
0
JR
Mastering test (Input for the reference switch of
the mastering test)
0 = reference switch is active (actuated).
1 = reference switch is not active (not actuated).
1
VRED
Reduced axis-specific and Cartesian velocity
(activation of reduced velocity monitoring)
0 = reduced velocity monitoring is active.
1 = reduced velocity monitoring is not active.
2…7
SBH1 … 6
Safe operational stop for axis group 1 ... 6
Assignment: Bit 2 = axis group 1 … bit 7 = axis
group 6
Cancelation of this function does not require
acknowledgement.
0 = safe operational stop is active.
1 = safe operational stop is not active.
Input byte 3
Bit
Signal
Description
0…7
RES
Reserved 25 ... 32
The value 1 must be assigned to the inputs.
Input byte 4
Bit
Signal
Description
0…7
UER1 … 8
Monitoring spaces 1 … 8
Assignment: Bit 0 = monitoring space 1 … bit 7
= monitoring space 8
0 = monitoring space is active.
1 = monitoring space is not active.
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Input byte 5
Bit
Signal
Description
0…7
UER9 … 16
Monitoring spaces 9 … 16
Assignment: Bit 0 = monitoring space 9 … bit 7
= monitoring space 16
0 = monitoring space is active.
1 = monitoring space is not active.
Input byte 6
Bit
Signal
Description
0…7
WZ1 … 8
Tool selection 1 … 8
Assignment: Bit 0 = tool 1 … bit 7 = tool 8
0 = tool is not active.
1 = tool 1 is active.
Exactly one tool must be selected at all times.
Input byte 7
Bit
Signal
Description
0…7
WZ9 … 16
Tool selection 9 … 16
Assignment: Bit 0 = tool 9 … bit 7 = tool 16
0 = tool is not active.
1 = tool 1 is active.
Exactly one tool must be selected at all times.
Output byte 2
Bit
Signal
Description
0
SO
SafeOperation active
SafeOperation activation status
0 = SafeOperation is not active.
1 = SafeOperation is active.
1
RR
Manipulator referenced
Mastering test display
0 = mastering test required.
1 = mastering test performed successfully.
2
JF
Mastering error
Space monitoring is deactivated because at
least one axis is not mastered.
0 = mastering error. Space monitoring has been
deactivated.
1 = no error.
3
VRED
Reduced axis-specific and Cartesian velocity
(activation status of reduced velocity monitoring)
0 = reduced velocity monitoring is not active.
1 = reduced velocity monitoring is active.
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KR C4
Bit
Signal
Description
4…5
SBH1 … 2
Activation status of safe operational stop for
axis group 1 ... 2
Assignment: Bit 4 = axis group 1 … bit 5 = axis
group 2
0 = safe operational stop is not active.
1 = safe operational stop is active.
6…7
Bit
Signal
Description
RES
Reserved 25 ... 32
Bit
Signal
Description
0…7
Output byte 4
Reserved 23 ... 24
0…7
Output byte 3
RES
MR1 … 8
Alarm space 1 … 8
Assignment: Bit 0 = alarm space 1 (associated
monitoring space 1) … bit 7 = alarm space 8
(associated monitoring space 8)
0 = space is violated.
1 = space is not violated.
Note: The signal is only set to 1 in the event of
a workspace violation if the corresponding monitoring space is active, i.e. it must have been
configured as “always active” or switched to
active by means of the corresponding PROFIsafe input (input byte 4).
Output byte 5
Bit
Signal
Description
0…7
MR9 … 16
Alarm space 9 … 16
Assignment: Bit 0 = alarm space 9 (associated
monitoring space 9) … bit 7 = alarm space 16
(associated monitoring space 16)
0 = space is violated.
1 = space is not violated.
Note: The signal is only set to 1 in the event of
a workspace violation if the corresponding monitoring space is active, i.e. it must have been
configured as “always active” or switched to
active by means of the corresponding PROFIsafe input (input byte 5).
Output byte 6
RES
Reserved 48 ... 55
Bit
Signal
Description
RES
Reserved 56 ... 63
EtherCAT connection on the CIB
Description
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Description
0…7
6.8
Signal
0…7
Output byte 7
Bit
Connector X44 on the CIB is the interface for connection of EtherCAT slaves
inside the robot controller (on the mounting plate for customer components).
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6 Planning
The EtherCAT line remains in the robot controller. The EtherCAT line can be
routed out of the robot controller via the optional connector X65. Information
about connector X65 can be found in the assembly and operating instructions
of the optional KR C4 interfaces.
The devices in the EtherCAT line must be configured with WorkVisual.
Fig. 6-16: EtherCAT connection X44
1
2
6.9
CIB
EtherCAT connection X44
PE equipotential bonding
Description
The following cables must be connected before start-up:
A 16 mm2 cable as equipotential bonding between the manipulator and
the robot controller.
An additional PE conductor between the central PE rail of the supply cabinet and the PE bolt of the robot controller. A cross section of 16 mm2 is
recommended.
Fig. 6-17: Equipotential bonding from robot controller to manipulator via
cable duct
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KR C4
1
PE to central PE rail of the supply cabinet
2
Connection panel on robot controller
3
Equipotential bonding connection on the manipulator
4
Equipotential bonding from the robot controller to the manipulator
5
Cable duct
6
Equipotential bonding from the start of the cable duct to the main equipotential bonding
7
Main equipotential bonding
8
Equipotential bonding from the end of the cable duct to the main equipotential bonding
Fig. 6-18: Equipotential bonding, robot controller - manipulator
1
2
Connection panel on robot controller
3
Equipotential bonding from the robot controller to the manipulator
4
6.10
PE to central PE rail of the supply cabinet
Equipotential bonding connection on the manipulator
Modifying the system configuration, exchanging devices
Description
The system configuration of the industrial robot must be configured using
WorkVisual in the following cases:
Installation of KSS/VSS 8.2
This is the case if a KSS/VSS 8.2 package is installed without KSS/VSS
8.2 already being present (because it has been uninstalled or deleted or
has never been installed).
More than one device has been replaced by a device of a different type.
One or more devices have been removed.
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A device has been replaced by a device of a different type.
Exchanging
devices
The hard drive has been exchanged.
One or more devices have been added.
If a device is exchanged, at least one KCB, KSB or KEB device is replaced by
a device of the same type. Any number of KCB, KSB and KEB devices can be
exchanged until all devices in the KCB, KSB and KEB have been replaced simultaneously by devices of the same type. Simultaneous exchange of two
identical components of the KCB is not possible. Only one of the identical components may be exchanged at any one time.
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6 Planning
The interchanging of 2 identical devices can only occur in the case of
the KSP3x40 if the current system configuration contains 2 KSP3x40.
6.11
Performance level
The safety functions of the robot controller conform to category 3 and Performance Level d according to EN ISO 13849-1.
6.11.1
PFH values of the safety functions
The safety values are based on a service life of 20 years.
The PFH value classification of the controller is only valid if the E-STOP device
is tested at least once every 6 months.
When evaluating system safety functions, it must be remembered that the
PFH values for a combination of multiple controllers may have to be taken into
consideration more than once. This is the case for RoboTeam systems or
higher-level hazard areas. The PFH value determined for the safety function
at system level must not exceed the limit for PL d.
The PFH values relate to the specific safety functions of the different controller
variants.
Safety function groups:
Standard safety functions
Operator safety
EMERGENCY STOP device
Enabling device
External safe operational stop
External safety stop 1
External safety stop 2
Operating mode selection
Velocity monitoring in T1
Safety functions of KUKA.SafeOperation (option)
Monitoring of axis spaces
Monitoring of Cartesian spaces
Monitoring of axis velocity
Monitoring of Cartesian velocity
Monitoring of axis acceleration
Safe operational stop
Tool monitoring
Overview of controller variant PFH values:
Robot controller variant
PFH value
KR C4
& lt; 1 x 10-7
VKR C4 PROFIsafe and retrofit interfaces VKR C2
& lt; 1 x 10-7
KR C4 with Ethernet-IP
& lt; 2 x 10-7
KR C4 with KUKA.SafeOperation
& lt; 1 x 10-7
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KR C4
Robot controller variant
PFH value
VKR C4 PROFIsafe with KUKA.SafeOperation
& lt; 1 x 10-7
VKR C4 retrofit interface VKR C1, except external EMERGENCY STOP and operator safety functions
& lt; 1 x 10-7
VKR C4 retrofit interface VKR C1, external EMERGENCY
STOP and operator safety functions
5 x 10-7
For controller variants that are not listed here, please contact KUKA
Roboter GmbH.
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7 Transportation
7
Transportation
7.1
Transportation using lifting tackle
The robot controller must be switched off.
No cables may be connected to the robot controller.
The door of the robot controller must be closed.
The robot controller must be upright.
Preconditions
The anti-toppling bracket must be fastened to the robot controller.
Necessary
equipment
Lifting tackle with or without lifting frame.
Procedure
1. Attach the lifting tackle with or without a lifting frame to all 4 transport eyebolts on the robot controller.
Fig. 7-1: Transportation using lifting tackle
1
Transport eyebolts on the robot controller
2
Correctly attached lifting tackle
3
Correctly attached lifting tackle
4
Incorrectly attached lifting tackle
2. Attach the lifting tackle to the crane.
If the suspended robot controller is transported too quickly, it may swing and cause injury or damage. Transport
the robot controller slowly.
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KR C4
3. Slowly lift and transport the robot controller.
4. Slowly lower the robot controller at its destination.
5. Unhook lifting tackle on the robot controller.
7.2
Transportation by fork lift truck
The robot controller must be switched off.
No cables may be connected to the robot controller.
The door of the robot controller must be closed.
The robot controller must be upright.
Preconditions
The anti-toppling bracket must be fastened to the robot controller.
Procedure
Fig. 7-2: Transportation by fork lift truck
1
2
7.3
Robot controller with fork slots
Robot controller with transformer installation kit
Transportation by pallet truck
The robot controller must be switched off.
No cables may be connected to the robot controller.
The door of the robot controller must be closed.
The robot controller must be upright.
Preconditions
The anti-toppling bracket must be fastened to the robot controller.
Procedure
Fig. 7-3: Transportation by pallet truck
1
2
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Robot controller with anti-toppling bracket
Robot controller in raised position
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7 Transportation
7.4
Transportation with the set of rollers (optional)
Description
The robot controller rollers may only be used to roll the cabinet into and out of
a row of cabinets – not to transport the cabinet over longer distances. The floor
must be level and free from obstacles, as there is a permanent risk of toppling.
If the robot controller is towed by a vehicle (fork lift truck,
electrical vehicle), this can result in damage to the rollers
and to the robot controller. The robot controller must not be hitched to a vehicle and transported using its rollers.
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8 Start-up and recommissioning
8
Start-up and recommissioning
8.1
Start-up overview
This is an overview of the most important steps during start-up. The
precise sequence depends on the application, the manipulator type,
the technology packages used and other customer-specific circumstances.
For this reason, the overview does not claim to be comprehensive.
This overview refers to the start-up of the industrial robot. The startup of the overall system is not within the scope of this documentation.
Manipulator
Step
Description
1
Carry out a visual inspection of the manipulator.
2
Install the manipulator mounting base (mounting base, machine frame mounting or booster
frame).
3
Information
Detailed information is contained
in the operating or assembly
instructions for the manipulator, in
the chapter “Start-up and recommissioning”.
Install the manipulator.
Electrical system
Step
Description
Information
4
Carry out a visual inspection of the robot controller.
-
5
Make sure that no condensation has formed in
the robot controller.
-
6
Install the robot controller.
( & gt; & gt; & gt; 8.2 " Installing the robot controller " Page 94)
7
Connect the connecting cables.
( & gt; & gt; & gt; 8.3 " Connecting the standard connecting cables " Page 95)
8
Plug in the KUKA smartPAD.
( & gt; & gt; & gt; 8.6 " Plugging in the KUKA
smartPAD " Page 105)
9
Connect the equipotential bonding between the
manipulator and the robot controller.
( & gt; & gt; & gt; 8.7 " Connecting the PE
equipotential bonding " Page 106)
10
Connect the robot controller to the power supply.
( & gt; & gt; & gt; 8.8 " Connecting the robot
controller to the power supply "
Page 106)
11
Reverse the battery discharge protection measures.
( & gt; & gt; & gt; 8.9 " Reversing the battery
discharge protection measures "
Page 107)
12
Configure and connect interface X11.
( & gt; & gt; & gt; 8.10 " Configuring and connecting connector X11 " Page 107)
13
Drive configuration modified
( & gt; & gt; & gt; 8.11 " System configuration
of the industrial robot modified "
Page 108)
14
Start-up mode
( & gt; & gt; & gt; 8.12 " Start-up mode "
Page 108)
15
Switch on the robot controller.
( & gt; & gt; & gt; 8.13 " Switching on the robot
controller " Page 109)
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Step
Description
Information
16
Check the safety equipment.
Detailed information is contained
in the operating and assembly
instructions for the robot controller,
in the chapter “Safety”.
17
Configure the inputs/outputs between the robot
controller and the periphery.
Detailed information can be found
in the field bus documentation.
Description
Information
Software
Step
18
Check the machine data.
19
Master the manipulator without a load.
20
Mount the tool and master the manipulator with
a load.
21
Check the software limit switches and adapt
them if required.
22
Detailed information is contained
in the operating and programming
instructions
Calibrate the tool.
In the case of a fixed tool: calibrate external
TCP.
23
Enter the load data.
24
Calibrate the base (optional).
In the case of a fixed tool: calibrate workpiece
(optional).
25
Detailed information is contained
in the Operating and Programming
Instructions for System Integrators.
If the manipulator is to be controlled from a
host computer or PLC: configure Automatic
External interface.
Long text names of inputs/outputs, flags, etc., can be saved in a text
file and imported after a reinstallation. In this way, the long texts do
not need to be re-entered manually for each manipulator. Furthermore, the long text names can be updated in application programs.
Accessories
Precondition: the manipulator is ready to move, i.e. the software start-up has
been carried out up to and including the item “Master the manipulator without
load”.
Description
Information
Optional: install and adjust external energy supply system,
taking the programming into consideration.
Detailed information can be found
in the energy supply system documentation.
Positionally accurate manipulator option: check data.
8.2
Installing the robot controller
Procedure
1. Install the robot controller. The minimum clearances to walls, other cabinets, etc. must be observed. ( & gt; & gt; & gt; 6.2 " Installation conditions " Page 64)
2. Check the robot controller for any damage caused during transportation.
3. Check that fuses, contactors and boards are fitted securely.
4. Secure any modules that have come loose.
5. Check that all screwed and clamped connections are securely fastened.
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8 Start-up and recommissioning
6. The operator must cover the warning label Read manual with the label in
the relevant local language. ( & gt; & gt; & gt; 4.9 " Plates and labels " Page 35)
8.3
Connecting the standard connecting cables
Overview
A connecting cable set is supplied with the industrial robot. In the standard
version this consists of:
Motor cables to the manipulator
Data cables to the manipulator
The following cables may be provided for additional applications:
Motor cables for external axes
Peripheral cables
The robot controller is preconfigured for the specific industrial robot. If cables are interchanged, the manipulator and the external axes (optional) may receive incorrect data and can thus
cause personal injury or material damage. If a system consists of more than
one manipulator, always connect the connecting cables to the manipulators
and their corresponding robot controllers.
Procedure
1. Route the motor cables to the manipulator junction box separately from the
data cables. Connect standard connector X20 (or X20.1/X20.4 for heavyduty robot).
2. Route the motor cables of external axes 7 and 8 (optional) to the manipulator junction box separately from the data cables. Insert connectors X7.1
and X7.2.
3. Route the data cables to the manipulator junction box separately from the
motor cable. Plug in connector X21.
4. Connect the peripheral cables.
Fig. 8-1: Example: Installing the cables in the cable duct
1 Cable duct
4 Motor cables
2 Separating webs
5 Data cables
3 Welding cables
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8.3.1
Standard motor cables, X20
Connector pin
allocation
Fig. 8-2: Connector pin allocation for X20
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8.3.2
Motor cables for heavy-duty robot, X20.1 and X20.4
Connector pin
allocation
Fig. 8-3: Connector pin allocation for X20.1 and X20.4
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8.3.3
Motor cable for external axis, X7.1 (optional)
The motor cable must not exceed a total length of 50 m.
Connector pin
allocation
Fig. 8-4: Connector pin allocation X7.1
8.3.4
Motor cable for external axis, X7.2 (optional)
The motor cable must not exceed a total length of 50 m.
Connector pin
allocation
Fig. 8-5: Connector pin allocation X7.2
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8.3.5
Data cables, X21
Connector pin
allocation
Fig. 8-6: Connector pin allocation for X21
8.4
Connecting the palletizing robot connecting cables (optional)
Overview
A connecting cable set is supplied with the industrial palletizing robot. In
the standard version this consists of:
Motor cables to the manipulator
Data cables to the manipulator
The following cables may be provided for additional applications:
Motor cables for external axes
Peripheral cables
The robot controller is preconfigured for the specific industrial robot. If cables are interchanged, the manipulator and the external axes (optional) may receive incorrect data and can thus
cause personal injury or material damage. If a system consists of more than
one manipulator, always connect the connecting cables to the manipulators
and their corresponding robot controllers.
Procedure
1. Depending on the specific option, route the following motor cables to the
manipulator junction box separately from the data cables and connect
them:
Connector X20, 4-axis or 5-axis palletizing robot
Connector X20.1/X20.4, heavy-duty robot, 5-axis palletizing robot
Connector X8, heavy-duty robot, 4-axis palletizing robot
2. Route the motor cables of external axes 7 and 8 to the manipulator junction box separately from the data cables. Insert connectors X7.1 and X7.2.
3. Route the data cables to the manipulator junction box separately from the
motor cable. Plug in connector X21.
4. Connect the peripheral cables.
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Fig. 8-7: Example: Installing the cables in the cable duct
1 Cable duct
4 Motor cables
2 Separating webs
5 Data cables
3 Welding cables
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8.4.1
5-axis heavy-duty palletizing robot, motor cables X20.1 And X20.4
Connector pin
allocation
Fig. 8-8: 5-axis palletizing robot, connector pin allocation X20.1 and
X20.4
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8.4.2
4-axis heavy-duty palletizing robot, motor cables X8
Connector pin
allocation
Fig. 8-9: 4-axis heavy-duty palletizing robot, connector pin allocation X8
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8.4.3
5-axis palletizing robot, motor cables X20
Connector pin
allocation
Fig. 8-10: 5-axis palletizing robot, connector pin allocation X20
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8.4.4
4-axis palletizing robot, motor cables X20
Connector pin
allocation
Fig. 8-11: 4-axis palletizing robot, connector pin allocation X20
8.4.5
Palletizing robot motor cable for external axis, X7.1 and X7.2
The motor cable must not exceed a total length of 50 m.
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Fig. 8-12: Palletizer, external axes 7 and 8
8.5
Fastening the KUKA smartPAD holder (optional)
Procedure
8.6
Fasten the smartPAD holder on the door of the robot controller or on the
wall. ( & gt; & gt; & gt; 6.4 " Fastening the KUKA smartPAD holder (optional) "
Page 67)
Plugging in the KUKA smartPAD
Procedure
Plug the KUKA smartPAD to X19 on the robot controller.
If the smartPAD is disconnected, the system can no longer be switched off by means of the EMERGENCY
STOP device on the smartPAD. For this reason, an external EMERGENCY
STOP must be connected to the robot controller.
The user is responsible for ensuring that the smartPAD is immediately removed from the system when it has been disconnected. The smartPAD must
be stored out of sight and reach of personnel working on the industrial robot.
This prevents operational and non-operational EMERGENCY STOP devices
from becoming interchanged.
Failure to observe these precautions may result in death to persons, severe
physical injuries or considerable damage to property.
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Connector pin
allocation X19
Fig. 8-13: Connector pin allocation X19
8.7
Connecting the PE equipotential bonding
Procedure
1. Connect an additional PE conductor between the central PE rail of the
supply cabinet and the PE bolt of the robot controller.
2. Connect a 16 mm2 cable as equipotential bonding between the manipulator and the robot controller.
( & gt; & gt; & gt; 6.9 " PE equipotential bonding " Page 85)
3. Carry out a ground conductor check for the entire industrial robot in accordance with DIN EN 60204-1.
8.8
Connecting the robot controller to the power supply
Description
The robot controller is connected to the mains via a Harting connector X1.
If the robot controller is connected to a power system
without a grounded neutral, this may cause malfunctions in the robot controller and material damage to the power supply units.
Electrical voltage can cause physical injuries. The robot controller may only
be operated with grounded-neutral power supply systems.
Fig. 8-14: Connector pin allocation X1
N* Option for service socket
Precondition
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Robot controller is switched off.
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Procedure
8.9
The power cable is de-energized.
Connect the robot controller to the power supply via X1.
Reversing the battery discharge protection measures
Description
To prevent the batteries from discharging before the controller has been started up for the first time, the robot controller is supplied with connector X305 disconnected from the CCU.
Procedure
Plug connector X305 into the CCU.
Fig. 8-15: Battery discharge protection X305
1
8.10
Connector X305 on the CCU
Configuring and connecting connector X11
Robot controller is switched off.
Precondition
Procedure
1. Configure connector X11 in accordance with the system and safety concepts. ( & gt; & gt; & gt; 6.6 " Description of interface X11 " Page 68)
2. Connect interface connector X11 to the robot controller.
Connector X11 may only be plugged in or unplugged
when the robot controller is switched off. If connector
X11 is plugged in or unplugged when energized, damage to property may occur.
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8.11
System configuration of the industrial robot modified
Description
The system configuration of the industrial robot must be configured using
WorkVisual in the following cases:
Installation of KSS/VSS 8.2
This is the case if a KSS/VSS 8.2 package is installed without KSS/VSS
8.2 already being present (because it has been uninstalled or deleted or
has never been installed).
A device has been replaced by a device of a different type.
More than one device has been replaced by a device of a different type.
One or more devices have been removed.
8.12
The hard drive has been exchanged.
One or more devices have been added.
Start-up mode
Description
The industrial robot can be set to Start-up mode via the smartHMI user interface. In this mode, the manipulator can be moved in T1 or CRR mode in the
absence of the safety periphery. (CRR is an operating mode specifically for
use with SafeOperation.)
If the X11 interface is used:
Start-up mode is always possible if all input signals have the state “logic
zero”. If this is not the case, the robot controller prevents or terminates
Start-up mode.
If the PROFIsafe interface is used:
If a connection to a higher-level safety system exists or is established, the
robot controller prevents or terminates Start-up mode.
Hazards
Possible hazards and risks involved in using Start-up mode:
A person walks into the manipulator’s danger zone.
An unauthorized person moves the manipulator.
In a hazardous situation, a disabled external EMERGENCY STOP device
is actuated and the manipulator is not shut down.
Additional measures for avoiding risks in Start-up mode:
Cover disabled EMERGENCY STOP devices or attach a warning sign indicating that the EMERGENCY STOP device is out of operation.
If there is no safety fence, other measures must be taken to prevent persons from entering the manipulator’s danger zone, e.g. use of warning
tape.
Use of Start-up mode must be minimized – and avoided where possible –
by means of organizational measures.
External safeguards are disabled in Start-up mode. Observe the safety instructions relating to Start-up mode.
( & gt; & gt; & gt; 5.8.3.1 " Start-up mode " Page 56)
In Start-up mode, the system switches to the following simulated input image:
The safety gate is open.
No safety stop 1 has been requested.
No safety stop 2 has been requested.
No safe operational stop has been requested.
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The external EMERGENCY STOP is not active.
Only for VKR C4: E2 is closed.
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8 Start-up and recommissioning
If SafeOperation or SafeRangeMonitoring is used, Start-up mode also influences other signals.
Information about the effects of Start-up mode in conjunction with SafeOperation or SafeRangeMonitoring can be found in the documentation SafeOperation and SafeRangeMonitoring.
Mapping of standard signals:
Byte 0: 0100 1110
Byte 1: 0100 0000
SafeOperation or SafeRangeMonitoring signal mapping:
Byte 2: 1111 1111
Byte 3: 1111 1111
Byte 4: 1111 1111
Byte 5: 1111 1111
Byte 6: 1000 0000
Byte 7: 0000 0000
8.13
Switching on the robot controller
The door of the robot controller is closed.
All electrical connections are correct and the power supply is within the
specified limits.
It must be ensured that no persons or objects are present within the danger zone of the manipulator.
All safety devices and protective measures are complete and fully functional.
Preconditions
The internal temperature of the cabinet must have adapted to the ambient
temperature.
We recommend that all motions of the manipulator should be triggered from outside the safety fencing.
Procedure
1. Switch on the mains power to the robot controller.
2. Release the E-STOP device on the KUKA smartPAD.
3. Switch on the main switch. The control PC begins to run up the operating
system and the control software.
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9 Operation
9
Operation
9.1
KUKA smartPAD teach pendant
9.1.1
Front view
Function
The smartPAD is the teach pendant for the industrial robot. The smartPAD has
all the operator control and display functions required for operating and programming the industrial robot.
The smartPAD has a touch screen: the smartHMI can be operated with a finger or stylus. An external mouse or external keyboard is not necessary.
The general term “KCP” (KUKA Control Panel) is often used in this
documentation for the smartPAD.
Overview
Fig. 9-1: KUKA smartPAD, front view
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Item
Description
1
Button for disconnecting the smartPAD
2
Keyswitch for calling the connection manager. The switch can only
be turned if the key is inserted.
The operating mode can be changed by using the connection manager.
3
EMERGENCY STOP button. Stops the robot in hazardous situations. The EMERGENCY STOP button locks itself in place when it
is pressed.
4
Space Mouse: For moving the robot manually.
5
Jog keys: For moving the robot manually.
6
Key for setting the program override
7
Key for setting the jog override
8
Main menu key: Shows the menu items on the smartHMI
9
Status keys. The status keys are used primarily for setting parameters in technology packages. Their exact function depends on the
technology packages installed.
10
Start key: The Start key is used to start a program.
11
Start backwards key: The Start backwards key is used to start a
program backwards. The program is executed step by step.
12
STOP key: The STOP key is used to stop a program that is running.
13
Keyboard key
Displays the keyboard. It is generally not necessary to press this
key to display the keyboard, as the smartHMI detects when keyboard input is required and displays the keyboard automatically.
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9 Operation
9.1.2
Rear view
Overview
Fig. 9-2: KUKA smartPAD, rear view
1
4
USB connection
Start key (green)
5
Enabling switch
3
Description
Enabling switch
2
Enabling switch
6
Identification plate
Element
Description
Identification
plate
Identification plate
Start key
The Start key is used to start a program.
The enabling switch has 3 positions:
Enabling
switch
Not pressed
Center position
Panic position
The enabling switch must be held in the center position
in operating modes T1 and T2 in order to be able to jog
the manipulator.
In the operating modes Automatic and Automatic External, the enabling switch has no function.
USB connection
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The USB connection is used, for example, for archiving
and restoring data.
Only for FAT32-formatted USB sticks.
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10 Maintenance
10
Maintenance
Description
Maintenance work must be performed at the specified maintenance intervals
after commissioning at the customer’s plant.
Maintenance
symbols
Oil change
Lubricate with grease gun
Lubricate with brush
Tighten screw/nut
Check component, visual inspection
Clean component
Exchange battery
Preconditions
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
The power cable is de-energized.
Observe the ESD guidelines.
Fig. 10-1: Maintenance points
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Interval
Item
Activity
6 months
8
Check the utilized relay outputs of the SIB and/or Extended SIB for correct functioning
( & gt; & gt; & gt; 10.1 " Checking SIB relay outputs " Page 116)
( & gt; & gt; & gt; 10.2 " Checking Extended SIB relay outputs "
Page 117)
1 year at
the latest
7
Depending on installation conditions and degree of
fouling, clean the protective grille of the external fan
with a brush.
2 years at
the latest
1
Depending on installation conditions and degree of
fouling, clean the heat exchanger with a brush
6
Depending on installation conditions and degree of
fouling, clean the heat sinks of the KPP, KSP and
low-voltage power supply unit with a brush
7
Depending on installation conditions and degree of
fouling, clean the external fans with a brush.
5 years
4
Exchange the motherboard battery
5 years
(with 3-shift
operation)
5
Exchange the control PC fans ( & gt; & gt; & gt; 11.4.2 " Exchanging the control PC fan " Page 124)
7
Exchange the external fan ( & gt; & gt; & gt; 11.3 " Exchanging
the external fan " Page 121)
as indicated by the
battery
monitoring
2
Exchange the batteries ( & gt; & gt; & gt; 11.6 " Exchanging the
batteries " Page 141)
When pressure relief
plug becomes discolored
3
Depends on installation conditions and degree of
fouling. Visual inspection of the pressure relief plug:
change filter insert if discolored (original color: white)
( & gt; & gt; & gt; 11.8 " Exchanging the pressure relief plug "
Page 144)
Once an activity from the maintenance list has been carried out, a visual inspection must be made, with special attention to the following points:
Damage to cabling.
Check PE equipotential bonding connection.
10.1
Check that fuses, contactors, plug-in connections and boards are fitted securely.
Wear and damage to any system components.
Checking SIB relay outputs
Activity
Check the function of the output “Local Emergency Stop”.
Procedure
Activity
Check the function of the output “Operator safety acknowledged”.
Procedure
1. Set operating mode to Automatic or Automatic External.
Press the local EMERGENCY STOP device.
2. Open operator safety (safeguard).
Activity
Check the function of the output “Switch on periphery”.
Procedure
1. Set operating mode to Automatic or Automatic External.
2. Open operator safety (safeguard).
3. Release enabling switch in “T1” or “T2” mode.
If no error message is displayed, the relay outputs are OK.
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10.2
Checking Extended SIB relay outputs
Activity
Check the alarm space outputs.
Procedure
Violate the corresponding alarm space. Depending on the configuration of
the alarm space, the Cartesian or axis-specific alarm space can be violated.
In normal operation, the alarm space outputs are checked cyclically
within the test interval (6 months) by the production operation.
Activity
Check the output “SafeOperation active”.
Procedure
Activity
Check the output “Robot referenced”.
Procedure
Deactivate SafeOperation or SafeRangeMonitoring.
Switch the drive bus off and back on again.
If no error message is displayed, the relay outputs are OK.
10.3
Cleaning the robot controller
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
The controller has been shut down.
Preconditions
The power cable is de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
The manufacturer’s instructions must be observed when using cleaning
agents for cleaning work.
It must be ensured that no cleaning agents enter electrical components.
Do not use compressed air during cleaning work.
Procedure
Work regulations
Observe the ESD guidelines.
Do not spray with water.
1. Loosen and vacuum up any dust deposits.
2. Clean robot controller with a cloth soaked with a mild cleaning agent.
3. Clean cables, plastic parts and hoses with a solvent-free cleaning agent.
4. Replace damaged, illegible or missing inscriptions, labels and plates.
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11 Repair
11
Repair
11.1
Repair and procurement of spare parts
Repair
Repairs to the robot controller may only be carried out by KUKA customer support personnel or by customers who have taken part in a relevant course of
training held by KUKA Roboter GmbH.
Repairs within modules may only be carried out by specially trained KUKA Roboter GmbH personnel.
Procurement of
spare parts
The article numbers of the spare parts are listed in the spare parts catalog.
KUKA Roboter GmbH supplies the following types of spare parts for repairs to
the robot controller:
New parts
Once the new part has been installed, the part that has been removed can
be disposed of.
Exchange parts
Once the exchange part has been installed, the part that has been removed is returned to KUKA Roboter GmbH.
A “Robot Repair Card” is supplied with the exchange parts. The Repair Card must be completed and returned to KUKA Roboter GmbH.
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11.2
Wiring example X11
Connector pin
allocation
Fig. 11-1: Wiring example X11
The enabling switch is a three-position switch with a panic position.
Enabling switch center position (make contact closed = enabled)
Panic (break contact open = panic position)
If wiring example X11 is used for start-up or troubleshooting, the connected safety components of the robot
system are disabled.
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The industrial robot can be set to Start-up mode via the smartHMI
user interface. ( & gt; & gt; & gt; 8.12 " Start-up mode " Page 108)In this mode,
the manipulator can be moved in T1 or CRR mode without X11 being
wired up.
11.3
Exchanging the external fan
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable must be de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Procedure
Observe the ESD guidelines.
1. Unplug fan connector X14 on the CCU.
2. Remove the rear panel.
Fig. 11-2: Exchanging the external fan
1
Fastening of rear panel
2
Fan connector X14 on the CCU
3. Remove the screws of the cable inlet.
4. Swivel back the cable inlet and pull out the connecting cable.
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Fig. 11-3: Exchanging the external fan
1
Fastening of cable inlet
2
Cover of the cable inlet
5. Remove the fan holder together with the fan.
6. Install the new fan together with its holder and fasten.
Fig. 11-4: Exchanging the external fan
1
Fastening of the fan holder
7. Route the connecting cable in the cabinet.
8. Mount the cable inlet.
9. Insert and fasten the rear panel
10. Plug in fan connector X14 on the CCU.
11.4
Control PC components
Motherboard
D2608-K
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The following interfaces are located on motherboard D2608-K:
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11 Repair
Fig. 11-5: Motherboard D2608-K interfaces
1
Power supply connector, 24-pin
3
SATA connections
4
PCI and PCIe slots
5
PC interfaces, on-board network and USB
6
Motherboard
D3076-K
Memory module slots
2
Additional power supply connector, 8-pin
The following interfaces are located on motherboard D3076-K:
Fig. 11-6: Motherboard D3076-K interfaces
1
Memory module slots
2
Power supply connector, 24-pin
3
SATA connections
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4
5
PC interfaces, on-board network, USB and DVI-I
6
11.4.1
PCI and PCIe slots
Additional power supply connector, 4-pin
Exchanging the control PC
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable must be de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Procedure
Observe the ESD guidelines.
1. Unplug the power supply and all connections to the control PC.
2. Slacken the knurled nuts.
3. Remove the control PC and lift it out towards the top.
4. Insert the new control PC and fasten.
5. Plug in the connections.
For connection of LAN Dual NIC, see ( & gt; & gt; & gt; 3.16 " Control PC interfaces "
Page 24)
Fig. 11-7: Fastening of control PC with motherboard D2608-K
1
2
11.4.2
Knurled nut
LAN Dual NIC connection (motherboard D2608-K)
Exchanging the control PC fan
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable must be de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
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Observe the ESD guidelines.
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11 Repair
Procedure
1. Remove the control PC. ( & gt; & gt; & gt; 11.4.1 " Exchanging the control PC "
Page 124)
2. Remove the air duct.
3. Remove the cover of the control PC.
4. Release and unplug the fan connector.
Fig. 11-8: Unplugging the control PC fan
1
Fan connector
3
Fan
2
Control PC housing
4
Fan grille
5. Remove outer fan grille.
6. Pull the fan inwards off the mounting plugs.
7. Remove the expanding rivets and take off the fan grille.
Fig. 11-9: PC fan configuration
1
Mounting plugs
4
Fan grille
2
Outer fan grille
5
Fan identification plate
3
Fastening of fan grille (expanding rivets)
8. Fasten the fan grille to the new fan with the expanding rivets.
The fan grille must be fastened to the side with the identification plate.
See ( & gt; & gt; & gt; Fig. 11-9 ).
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Fig. 11-10: Installing the control PC fan
1
Mounting plugs on the fan
2
3
Mounting plugs on the PC
housing
Fan grille
9. Install the mounting plugs in the fan.
10. Insert the fan into the PC housing and pull the mounting plugs through the
PC housing.
11. Reattach outer fan grille.
12. Install the air duct.
11.4.3
Exchanging the motherboard
A defective motherboard is not exchanged separately, but together with the
control PC.
11.4.4
Exchanging the motherboard battery
The battery on the motherboard of the control PC may only be exchanged by
authorized maintenance personnel in consultation with the KUKA customer
support service.
11.4.5
Exchanging the Dual NIC network card
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable must be de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Procedure
Observe the ESD guidelines.
1. Open the PC chassis.
2. Unplug the connections to the dual NIC network card.
3. Release the fastenings of the card and pull the card out of the slot.
4. Inspect the new dual NIC network card for mechanical damage.
5. Plug the dual NIC network card into its slot and tighten the fastening
screws.
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11 Repair
6. Plug in the connections to the card.
11.4.6
Exchanging the hard drive
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable must be de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Procedure
Observe the ESD guidelines.
1. Release and unplug the SATA connector.
2. Unplug the power supply connector.
3. Unscrew the knurled screws.
4. Exchange the hard drive for a new one.
5. Plug in the SATA and power supply connectors
6. Fasten the hard drive with the knurled screws.
7. Install the operating system and the KUKA System Software (KSS).
8. The system configuration of the industrial robot must be configured using
WorkVisual.
Once the hard drive has been exchanged, the archive of the previous
installation can be loaded (as an alternative to configuration using
WorkVisual).
Fig. 11-11: Exchanging the hard drive
1
2
Power supply connection
3
11.5
SATA connection
Knurled screws on the underside
Modifying the system configuration, exchanging devices
Description
The system configuration of the industrial robot must be configured using
WorkVisual in the following cases:
Installation of KSS/VSS 8.2
This is the case if a KSS/VSS 8.2 package is installed without KSS/VSS
8.2 already being present (because it has been uninstalled or deleted or
has never been installed).
The hard drive has been exchanged.
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More than one device has been replaced by a device of a different type.
One or more devices have been removed.
Exchanging
devices
A device has been replaced by a device of a different type.
One or more devices have been added.
If a device is exchanged, at least one KCB, KSB or KEB device is replaced by
a device of the same type. Any number of KCB, KSB and KEB devices can be
exchanged until all devices in the KCB, KSB and KEB have been replaced simultaneously by devices of the same type. Simultaneous exchange of two
identical components of the KCB is not possible. Only one of the identical components may be exchanged at any one time.
The interchanging of 2 identical devices can only occur in the case of
the KSP3x40 if the current system configuration contains 2 KSP3x40.
11.5.1
Exchanging the KUKA Power Pack
Connections
Fig. 11-12: KPP connection with amplifiers for 2 axes (optional)
Item
Description
1
X30
Brakes power supply OUT
2
X20
Drive bus OUT
3
X10
Control electronics power supply OUT
4
X7
Ballast resistor
5
X6
DC link OUT
6
X11
Control electronics power supply IN
7
X21
Drive bus IN
8
X34
Brakes power supply IN
9
X3
Motor connection 3, axis 8
10
X33
Brake connection 3, axis 8
11
X32
Brake connection 2, axis 7
12
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Connector
X2
Motor connection 2, axis 7
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
11 Repair
Item
-
Not used
14
Description
13
Preconditions
Connector
X4
AC power supply connection and PE
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
If removal is performed immediately after the robot controller has been shut down, the heat sink surface temperatures are likely to be high and could result in burn injuries. Protective gloves
must be worn.
The power cable is de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Observe the ESD guidelines.
Wait 5 minutes until the intermediate circuit has discharged.
The following components may remain energized (50780 V) up to 5 minutes after the robot controller has been
switched off:
the KPP
the KSPs
the intermediate circuit connecting cables
This voltage can cause life-threatening injuries.
Procedure
1. Unlock connectors X20 and X21 of the data cables. Unplug all connections
to the KPP.
Unplugging the data cable connectors without first unlocking them damages the connectors. Unlock the connectors before unplugging them.
Fig. 11-13: Unlocking connectors X20 and X21
1
Connector unlocked
3
Connector plugged in and
locked
2
Connector locked
4
Connector plugged in and unlocked
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2. Slacken the Allen screws.
The KPP weighs approx. 10 kg. When removing or installing the KPP, care must be taken to avoid injury by
crushing. Protective gloves must be worn.
3. Lift the KPP slightly, tilt the top forwards and lift the KPP out of the support
bracket.
4. Insert the new KPP into the support bracket, hook it on at the top and tighten the fastening screws (tightening torque 4 Nm).
5. Plug in all the connections in accordance with the connector and cable labeling. Lock connectors X20 and X21.
6. If exchanging the device resulted in a system modification, the system
configuration of the industrial robot must be configured using WorkVisual.
Fig. 11-14: KPP fastening
1
2
130 / 183
Allen screws
3
Support bracket
Rear panel of cabinet
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
11 Repair
11.5.2
Exchanging the KUKA Servo Pack
Connections
Fig. 11-15: KSP connection with amplifiers for 3 axes
Item
X30
Brakes power supply OUT
2
X20
Drive bus OUT
3
X10
Control electronics power supply OUT
4
X5
DC link OUT
5
X6
DC link IN
6
X11
Control electronics power supply IN
7
X21
Drive bus IN
8
X34
Brakes power supply IN
9
X3
Motor connection 3
10
X33
Connection, brake 3
11
X32
Connection, brake 2
12
X2
Motor connection 2
13
X31
Connection, brake 1
14
Description
1
Preconditions
Connector
X1
Motor connection 1
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
If removal is performed immediately after the robot controller has been shut down, the heat sink surface temperatures are likely to be high and could result in burn injuries. Protective gloves
must be worn.
The power cable is de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Observe the ESD guidelines.
Wait 5 minutes until the intermediate circuit has discharged.
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The following components may remain energized (50780 V) up to 5 minutes after the robot controller has been
switched off:
the KPP
the KSPs
the intermediate circuit connecting cables
This voltage can cause life-threatening injuries.
Procedure
1. Unlock connectors X20 and X21 of the data cables. Unplug all connections
to the KSP.
Unplugging the data cable connectors without first unlocking them damages the connectors. Unlock the connectors before unplugging them.
Fig. 11-16: Unlocking connectors X20 and X21
1
Connector unlocked
3
Connector X21 plugged in and
locked
2
Connector locked
4
Connector X20 plugged in and
unlocked
2. Slacken the Allen screws.
The KPP weighs approx. 10 kg. When removing or installing the KPP, care must be taken to avoid injury by
crushing. Protective gloves must be worn.
3. Lift the KSP slightly, tilt the top forwards and lift the KPP out of the support
bracket.
4. Insert the new KSP into the support bracket, hook it on at the top and tighten the fastening screws (tightening torque 4 Nm).
5. Plug in all the connections in accordance with the connector and cable labeling. Lock connectors X20 and X21.
6. If exchanging the device resulted in a system modification, the system
configuration of the industrial robot must be configured using WorkVisual.
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11 Repair
Fig. 11-17: KSP fastening
1
2
11.5.3
Allen screws
3
Support bracket
Rear panel of cabinet
Exchanging the Cabinet Control Unit
Connections
Fig. 11-18: Connections on the CCU
Item
Connector
Description
1
X14
External fan connection
2
X308
External power supply, safety circuit
3
X1700
Board connection
4
X306
KCP power supply
5
X302
SIB power supply
6
X3
KPP1 power supply
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Item
Connector
Description
7
X29
EDS connection, memory card
8
X30
Ballast resistor temperature monitoring
9
X309
Main contactor 1 (HSn, HSRn)
10
X312
Main contactor 2 (HSn, HSRn)
11
X310
Spare (safe input 2/3, safe output 2/3)
12
X48
Safety Interface Board SIB (orange)
13
X31
Controller bus, KPC (blue)
14
X32
Controller bus, KPP (white)
15
X311
Safe inputs, ZSE1, ZSE2; NHS (jumper plug)
16
X28
Mastering test
17
X43
KUKA Service Interface (KSI) (green)
18
X42
KUKA Operator Panel Interface KCP (yellow)
19
X41
KUKA System Bus, KPC (red)
20
X44
EtherCAT Interface (KUKA Extension Bus) (red)
21
X47
Spare (yellow)
22
X46
KUKA System Bus, RoboTeam (green)
23
X45
KUKA System Bus, RoboTeam (orange)
24
X34
Controller bus, RDC (blue)
25
X33
Controller bus, spare (white)
26
X25
Fast Measurement inputs 7-8
27
X23
Fast Measurement inputs 1-6
28
X11
Alarm contact for main switch
29
X26
Thermostatic switch for transformer
30
X27
Alarm contact for cooling unit
31
X5
KPP2 power supply
32
X22
Cabinet lighting (optional)
33
X4
KPC, KPP, internal fan power supply
34
X307
CSP power supply
35
X12
USB
36
X15
Internal cabinet fan (optional)
37
X1
Infeed from low-voltage power supply
38
X301
24 V without battery backup, switched load voltage
US2 (F301)
39
X6
24 V without battery backup, unswitched load voltage US1 (F6)
40
X305
Battery
41
X21
RDC power supply
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable is de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
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Observe the ESD guidelines.
Wait 5 minutes until the intermediate circuit has discharged.
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
11 Repair
The following components may remain energized (50780 V) up to 5 minutes after the robot controller has been
switched off:
the KPP
the KSPs
the intermediate circuit connecting cables
This voltage can cause life-threatening injuries.
Procedure
1. Unlock the data cable connectors. Unplug all connections to the CCU.
Unplugging the data cable connectors without first unlocking them damages the connectors. Unlock the connectors before unplugging them.
Fig. 11-19: Unlocking the data cable connectors
1
Connector unlocked
2
3
Connector plugged in and
locked
Connector locked
2. Remove the screw on the fastening plate and pull the plate with the CCU
out of the tab slots.
3. Check the new CCU for mechanical damage. Insert the fastening plate
with the CCU into the tab slots and screw it firmly in place.
4. Plug in all the connections in accordance with the connector and cable labeling. Lock the data cable connectors.
Fig. 11-20: CCU fastening
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1
2
11.5.4
Tabs
Fastening screw
Exchanging the Safety Interface Board
Standard connections
Fig. 11-21: Standard SIB connections
Item
Description
1
X250
SIB power supply
2
X251
Power supply for additional components
3
X252
Safe outputs
4
X253
Safe inputs
5
X254
Safe inputs
6
X258
KUKA System Bus IN
7
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Connector
X259
KUKA System Bus OUT
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
11 Repair
Extended
connections
Fig. 11-22: Extended SIB connections
Item
Connector
Description
1
X260
Extended SIB power supply
2
X261
Power supply for additional components
3
X264
Safe outputs 1 and 4
4
X266
Safe outputs 5 to 8
5
X262
Safe inputs
6
X263
Safe inputs
7
X267
Safe inputs
8
X268
KUKA System Bus IN
9
X269
KUKA System Bus OUT
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable is de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Observe the ESD guidelines.
Wait 5 minutes until the intermediate circuit has discharged.
The following components may remain energized (50780 V) up to 5 minutes after the robot controller has been
switched off:
the KPP
the KSPs
the intermediate circuit connecting cables
This voltage can cause life-threatening injuries.
Procedure
1. Unlock the data cable connectors. Unplug all connections to the SIB.
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Unplugging the data cable connectors without first unlocking them damages the connectors. Unlock the connectors before unplugging them.
Fig. 11-23: Unlocking the data cable connectors
1
Connector unlocked
2
3
Connector plugged in and
locked
Connector locked
2. Remove the screw on the fastening plate and pull the plate with the SIB
out of the tab slots.
3. Check the new SIB for mechanical damage. Insert the fastening plate with
the SIB into the tab slots and screw it firmly in place.
4. Plug in all the connections in accordance with the connector and cable labeling. Lock the data cable connectors.
5. If exchanging the SIB resulted in a system modification, the system configuration of the industrial robot must be configured using WorkVisual.
Fig. 11-24: SIB with fastening plate
1
2
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Fastening screw
Tabs
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
11 Repair
11.5.5
Exchanging the Resolver Digital Converter
Connections
Fig. 11-25: Overview of RDC connections
Item
Connecto
r
Description
1
X1
Resolver connection, axis 1
2
X2
Resolver connection, axis 2
3
X3
Resolver connection, axis 3
4
X4
Resolver connection, axis 4
5
X5
Resolver connection, axis 5
6
X6
Resolver connection, axis 6
7
X7
Resolver connection, axis 7
8
X8
Resolver connection, axis 8
9
X13
EDS connection, memory card, RDC
10
X20
EMD
11
X19
KCB OUT
12
X18
KCB IN
13
X17
EMD power supply
14
X15
Power supply IN
15
X16
Power supply OUT (next KCB device)
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable must be de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Procedure
Observe the ESD guidelines.
1. Remove the screws from the lid of the RDC box.
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Fig. 11-26: RDC box connections
1
Union for 2 external axis control cables X7 and X8
2
Bolt for ground conductor connection
3
Data cable X31
4
EMD connection X32
5
Cable inlet for resolver connections X1-X6
2. Carefully disconnect all cables and bend them out of the way to the sides.
3. Carefully unplug the EDS connection.
The EDS memory is not removed and remains in the RDC box when
the RDC is exchanged.
4. Remove the fastening screws of the RDC module.
Fig. 11-27: RDC fastening
1
Fastening the RDC module: M6x10
Tightening torque: 2.0 Nm
2
Fastening the EDS: M2.5 plastic nuts
Tightening torque: 0.1 Ncm
5. Carefully remove the RDC module from the RDC box without tilting it.
6. Insert and fasten the new RDC module.
7. Connect all cables.
8. Plug in the EDS connection.
9. Close the lid of the RDC box and screw it firmly in place.
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11 Repair
11.6
Exchanging the batteries
Procedure
1. Shut down the robot controller by means of the main menu item Shutdown. [Further information is contained in the operating and programming
instructions for the KUKA System Software.]
2. Turn off the robot controller and take measures to prevent it from being
turned on again unintentionally.
3. Disconnect the power cable from the supply.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
4. Remove the fastening screws of the cooling duct with a 7 mm socket
wrench. Lift the cooling duct out vertically.
Fig. 11-28: Removing the cooling duct
1
Cooling duct fastening screws
2
Batteries
3
Cooling duct
5. Unplug the battery connection cables.
A short-circuit or short to ground at the battery poles
causes a very high short-circuit current. This short-circuit
current can cause severe injury and substantial damage to property. It must
be ensured that no short-circuit or short to ground is caused at the battery
poles.
A short-circuit or short to ground at the battery poles can
trip the higher-level fuse. The batteries have no fuse of
their own. It must be ensured that no short-circuit or short to ground is caused
at the battery poles.
6. Remove the Velcro strip.
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Fig. 11-29: Exchanging the batteries
1
Battery connection cables
2
Velcro strip
7. Take out both battery blocks.
The battery blocks must both be exchanged together.
8. Insert the new battery blocks and plug in the battery connection cables.
Fig. 11-30: Battery polarity
Observe the illustrated battery polarity. Installing the batteries in the wrong position or with reversed polarity can
generate a high short-circuit current and trip the higher-level fuse.
9. Fasten the battery blocks with the Velcro strip.
10. Install the cooling duct and screw it firmly in place.
Storage
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11 Repair
To prevent exhaustive discharge and thus destruction of
the batteries, the batteries must be recharged at regular
intervals according to the storage temperature.
If the storage temperature is +20 °C or lower, the batteries must be recharged every 9 months.
If the storage temperature is between +20 °C and +30 °C, the batteries must
be recharged every 6 months.
If the storage temperature is between +30 °C and +40 °C, the batteries must
be recharged every 3 months.
11.7
Exchanging the low-voltage power supply unit
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
Preconditions
The power cable is de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Procedure
The controller has been shut down.
1. Remove the rear panel.
2. Unplug the connections.
3. Loosen the fastening screws.
4. Tilt the low-voltage power supply unit forward and lift it out vertically.
Fig. 11-31: Low-voltage power supply unit
1
Power supply connector X2
4
Fastening screws
2
CCU power infeed connector
X1
5
Low-voltage power supply unit
removed
3
XPE connector
5. Insert and fasten the new low-voltage power supply unit.
6. Plug in the connectors; insert and fasten the rear panel.
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11.8
Exchanging the pressure relief plug
Description
The pressure relief plug is used to generate an overpressure inside the cabinet. This prevents excessive fouling of the cabinet.
Preconditions
The robot controller must be switched off and secured to prevent unauthorized persons from switching it on again.
The power cable must be de-energized.
Cables with white sheathing remain under mains voltage
even with the main switch turned off! This mains voltage
can cause life-threatening injuries on contact.
Procedure
Observe the ESD guidelines.
1. Remove the foam ring.
2. Exchange the filter insert.
3. Insert the foam ring so that it is flush with the pressure relief plug.
Fig. 11-32: Exchanging the pressure relief plug
1
2
11.9
Pressure relief plug
3
Foam ring
Filter insert
Installing the KUKA System Software (KSS)
Further information is contained in the operating and programming instructions for the KUKA System Software (KSS).
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12 Troubleshooting
12
Troubleshooting
12.1
Cabinet Control Unit LED display
Overview
Fig. 12-1: CCU LED display
Item
Color
Description
Remedy
Fuse LEDs
Red
On = fuse defective
Exchange defective fuse
Off = fuse OK
-
On = power supply present
-
Off = no supply voltage
present
Off = no supply voltage
present
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
1
Designation
Check cabling at X309,
X310, X312. For test purposes, disconnect the
cables at X309, X310, X312
and switch the controller off
and back on again. If the
error recurs, exchange the
module.
The LEDs
indicate the
status of the
fuses.
2
3
PWRS/3.3V
STAS2
Safety node B
Green
Orange
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Check fuse F17.3
If the LED PWR/3.3V
lights up, exchange the
CCU module
Check fuse F17.3
If the LED PWR/3.3V
lights up, exchange the
CCU module
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Item
Color
Description
Remedy
STAS1
Orange
Off = no supply voltage
present
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
4
Designation
Check cabling at X309,
X310, X312. For test purposes, disconnect the
cables at X309, X310, X312
and switch the controller off
and back on again. If the
error recurs, exchange the
module.
Safety node A
5
FSoE
Green
27 V
PS1
Voltage,
Power Supply 1 (shortduration battery backup)
8
PS2
PS3
Voltage,
Power Supply 3 (longduration battery backup)
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Off = no supply voltage
present
Check infeed at X1 (rated
voltage 27.1 V)
-
Off = no supply voltage
present
Check infeed at X1 (rated voltage 27.1 V)
Drive bus switched off
(BusPowerOff state)
On = power supply present
Green
-
Off = no supply voltage
present
Check infeed at X1.
Controller in Sleep state
On = power supply present
Green
Voltage,
Power Supply 2
(mediumduration battery backup)
9
-
Green
-
On = power supply present
Green
Off = not active
Flashing = fault code (internal)
Voltage, main
power supply
unit, without
battery
backup
7
If the LED PWR/3.3V
lights up, exchange the
CCU module
On = operational
Safety protocol of the
EtherCat connection
6
Check fuse F17.3
-
Off = no supply voltage
present
Check infeed at X1.
On = power supply present
-
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Item
10
Designation
Color
Description
L/A
Green
On = physical connection. Network cable
plugged in
Off = no physical connection. Network cable
not plugged in
Flashing = data traffic on
the line
KSB (SIB)
L/A
Green
KCB (KPC)
L/A
Green
KCB (KPP)
11
Green
L/A
Green
L/A
Green
L/A
Green
PWR/3.3V
Green
-
Green
L/A
13
Green
L/A
12
L/A
Remedy
Off = no supply voltage
present
14
L/A
Green
L/A
Green
L/A
Green
STA1 (CIB)
Orange
On = physical connection
Jumper plug X308 present
Check fuse F308
In the case of external
supply via X308: check
external supply voltage
(rated voltage 24 V)
-
Off = no physical connection. Network cable
not plugged in.
15
On = supply voltage present
Check fuse F17.3
Power for the
CIB
Flashing = data traffic on
the line
-
If the LED PWR/3.3V
lights up, exchange the
CCU module
Exchange CCU module
Off = no supply voltage
present
Check infeed at X1
If the LED PWR/5V lights
up, exchange the CCU
module
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
μC USB
Orange
Flashing = fault code (internal)
STA1 (PMB)
Check fuse F17.3
Flashing at 10 Hz = boot
phase
16
Flashing at 1 Hz = normal
state
μC I/O node
Off = no supply voltage
present
Exchange CCU module
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
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KR C4
Item
Color
Description
Remedy
PWR/5V
Green
Off = no supply voltage
present
Check infeed at X1 (rated
voltage 27.1 V)
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
-
Off = no supply voltage
present
Check infeed at X1
If the LED PWR/3.3V
lights up, exchange the
CCU module
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
Exchange CCU module
On = operational (normal
state)
-
Off = Init (after switching on)
-
Flashing at 2.5 Hz = Pre-Op
(intermediate state on
startup)
-
Single signal = Safe Op
-
Flashing at 10 Hz = boot (for
firmware update)
-
On = operational (normal
state)
-
Off = Init (after switching on)
-
Flashing at 2.5 Hz = Pre-Op
(intermediate state on
startup)
-
Single signal = Safe Op
-
10 Hz = boot (for firmware
update)
17
Designation
-
Supply for
PMB
18
STA2
Orange
FPGA node
19
RUN SION
Green
EtherCat
Safety nodes
20
RUN CIB
EtherCat
ATμC I/O
node
148 / 183
Green
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
12.2
Cabinet Control Unit fusing
Overview
Fig. 12-2: Arrangement of the fuses
A defective fuse is indicated by a red LED next to the fuse. Once the
cause of the fault has been eliminated, defective fuses must be replaced with fuses with the value specified in the operating instructions
or printed on the module.
Item
Designation
Description
Fusing
1
F17.1
Contactor outputs 1 … 4 CCU
5A
2
F17.2
CCU inputs
2A
3
F17.4
CCU safe inputs
2A
4
F17.3
CCU logic
2A
5
F306
SmartKCP supply
2A
6
F302
SIB power supply
5A
7
F3.2
KPP1 logic without battery
backup
7.5 A
8
F3.1
KPP1 brakes without battery
backup
15 A
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
149 / 183
KR C4
Item
Description
Fusing
9
F5.2
KPP2 logic without battery
backup/switch
7.5 A
10
F5.1
KPP2 brakes without battery
backup
15 A
11
F22
Cabinet lighting (optional)
2A
12
F4.1
KPC with battery backup
10 A
13
F4.2
KPC fan with battery backup
2A
14
F307
CSP power supply
2A
15
F21
RDC power supply
2A
16
F305
Battery infeed
15 A
17
F6
24 V without battery backup
US1 (optional)
7.5 A
18
F301
24 V without battery backup,
spare, US2
10 A
19
F15
Internal fan (optional)
2A
20
F14
External fan
7.5 A
21
12.3
Designation
F308
Internal power supply, external
infeed with battery backup
7.5 A
Resolver Digital Converter LED display
Overview
Fig. 12-3: RDC LED display
Item
Color
Description
STA3
Yellow
Off = fault
Flashing at 1 Hz = normal state
Flashing = fault code (internal)
Off = Init
On = normal state
Flashing at 2.5 Hz = Pre-Op
Single signal = Safe Op
Flashing = fault code (internal)
1
Designation
Flashing at 10 Hz = boot
Motor temperature microcontroller
2
RUN
EtherCAT AT bus
150 / 183
Green
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Item
Designation
Description
L/A1
Green
Off = no physical connection. Network
cable not plugged in.
On = network cable plugged in
Flashing = data traffic on the line
Off = no physical connection. Network
cable not plugged in.
On = network cable plugged in
Flashing = data traffic on the line
Off = no physical connection. Network
cable not plugged in.
On = network cable plugged in
Flashing = data traffic on the line
Off = fault
Flashing at 1 Hz = normal state
Flashing = fault code (internal)
Off = no power
On = power supply connected
Off = not active
On = operational
Flashing = fault code (internal)
Off = fault
Flashing at 1 Hz = normal state
Flashing = fault code (internal)
Off = fault
Flashing at 1 Hz = normal state
3
Color
Flashing = fault code (internal)
Off = fault
Flashing at 1 Hz = normal state
Flashing = fault code (internal)
Input of the KCB (X18)
4
L/A2
Green
Output of the KCB (X19)
5
L/A3
Green
Output of the KCB to the
EMD (X20)
6
STA4
Yellow
VMT microcontroller
7
PWR/3.3V
Green
RDC power supply
8
FSOE
Green
Safety protocol of the
EtherCat connection
9
STA2
Yellow
FPGA B integrated circuit
10
STA1
Yellow
FPGA A integrated circuit
11
STA0
Yellow
configuration microcontroller
12.4
Controller System Panel LED display
Overview
Fig. 12-4
Item
Designation
Description
1
LED1
Operating LED
2
LED2
Sleep LED
3
LED3
Automatic LED
4
LED4
Error LED
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
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KR C4
Item
Description
5
LED5
Error LED
6
CSP test
Designation
LED6
Error LED
Display
Description
If all LEDs light up for 3 s after the CSP is switched on,
it is working correctly
Automatic mode
Display
Description
LED1 = on
LED3 = on
Controller is in Automatic mode
LED1 = on
Controller is not in Automatic mode
Sleep mode
Display
Description
LED2 flashes slowly
Controller is in Sleep mode.
LED1 flashes slowly
Controller is coming out of Sleep mode.
ProfiNet ping
Display
Description
LED1 = on
LED4 flashes slowly
LED5 flashes slowly
LED6 flashes slowly
ProfiNet ping is being executed
12.5
Controller System Panel LED error display
Overview
Fig. 12-5
Item
Description
LED1
Operating LED
2
LED2
Sleep LED
3
LED3
Automatic LED
4
152 / 183
Designation
1
LED4
Error LED
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Item
Designation
Description
5
LED5
Error LED
6
LED6
Error LED
Error states
Display
Description
Remedy
LED1 flashes slowly
Exchange the PC
LED4 = on
BIOS error
LED1 flashes slowly
Exchange the hard
drive
Reload the image
LED1 flashes slowly
Reload the image
LED6 = on
Run setup
LED5 = on
Timeout booting Windows or starting the
PMS
Timeout waiting for
RTS “RUNNING”
LED1 flashes slowly
-
Timeout waiting for
HMI Ready
12.6
LAN Onboard LED display
Overview
Fig. 12-6: LAN Onboard LED display
Item
Designation
Color
Description
1
Activity/Link
Green
Off = no connection
On = connection established
Flashing = connection active
Off = 10 Mb
Green = 100 Mb
Yellow = 1000 Mb
2
Speed
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Yellow/
green
153 / 183
KR C4
12.7
Safety Interface Board LED display
Standard
Fig. 12-7: Standard SIB LED display
Item
Designation
Color
Description
1
L/A
Green
2
L/A
Green
On = physical connection
Off = no physical connection. Network cable
not plugged in.
Flashing = data traffic on
the line
3
PWR_3V3
Green
Remedy
-
4
RUN
EtherCat
Safety nodes
Green
Check fuse F302
Jumper plug X308 present
On = supply voltage present
Power for the
SIB
Off = no supply voltage
present
-
On = operational (normal
state)
-
Flashing at 2.5 Hz = Pre-Op
(intermediate state on
startup)
-
Single signal = Safe Op
-
Flashing at 10 Hz = boot (for
firmware update)
154 / 183
Off = Init (after switching on)
-
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Item
Color
Description
Remedy
STAS2
Orange
Off = no supply voltage
present
Check fuse F302
If the LED PWR_3V3
lights up, exchange the
SIB board
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
-
Off = not active
-
On = operational
-
Flashing = fault code (internal)
-
Off = no supply voltage
present
Check fuse F302
If the LED PWR_3V3
lights up, exchange the
SIB board
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
-
On = supply voltage present
-
Off = no supply voltage
present
5
Designation
Check fuse F302
If the LED PWR_3V3
lights up, exchange the
SIB board
On = fuse defective
Exchange defective fuse
Off = fuse OK
-
Safety node B
6
FSoE
Green
Safety protocol of the
EtherCat connection
7
STAS1
Orange
Safety node A
8
9
PWRS 3.3V
Fuse LED
The LED indicates the status of the fuse
Green
Red
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
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KR C4
Extended
Fig. 12-8: Extended SIB LED display
Item
Color
Description
Remedy
Fuse LED
Red
On = fuse defective
Exchange defective fuse
Off = fuse OK
-
Off = no supply voltage
present
Check fuse F302
If the LED PWR +3V3
lights up, exchange the
SIB board
Flashing at 1 Hz = normal
state
-
Flashing at 10 Hz = boot
phase
-
Flashing = fault code (internal)
1
Designation
-
Off = not active
-
On = operational
-
Flashing = fault code (internal)
-
On = supply voltage present
-
Off = no supply voltage
present
Check fuse F302
If the LED PWR +3V3
lights up, exchange the
SIB board
The LED indicates the status of the fuse
2
STAS1
Orange
Safety node A
3
FSoE
Green
Safety protocol of the
EtherCat connection
4
156 / 183
PWRS_+3V3
V
Green
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Item
Description
L/A
Green
On = physical connection
Off = no physical connection. Network cable
not plugged in.
6
Color
5
Designation
Flashing = data traffic on
the line
STAS2
Orange
Remedy
-
Green
If the LED PWR +3V3
lights up, exchange the
SIB board
-
Flashing = fault code (internal)
L/A
Check fuse F302
Flashing at 10 Hz = boot
phase
7
Flashing at 1 Hz = normal
state
Safety node B
Off = no supply voltage
present
-
Green
Off = no physical connection. Network cable
not plugged in.
RUN
On = physical connection
8
Flashing = data traffic on
the line
-
12.8
-
Off = no supply voltage
present
Check fuse F260
Jumper plug X308 present
On = supply voltage present
Power for the
SIB
-
Flashing at 10 Hz = boot (for
firmware update)
Green
-
Single signal = Safe Op
PWR +3V3
-
Flashing at 2.5 Hz = Pre-Op
(intermediate state on
startup)
9
-
Off = Init (after switching on)
EtherCat
Safety nodes
On = operational (normal
state)
-
Safety Interface Board fuses
Semiconductor
fuse
Every output channel is fitted with self-resetting semiconductor fuses to guard
against short-circuits.
To reset the semiconductor fuse, the following steps are to be carried out:
Eliminate the cause of the error
De-energize the semiconductor fuse for 5 s
The semiconductor fuses are not rated for frequent use and should
not be tripped intentionally, as this will reduce their service life.
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
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KR C4
Standard SIB
Fig. 12-9: Standard SIB fuse
A defective fuse is indicated by a red LED next to the fuse. Once the
cause of the fault has been eliminated, defective fuses must be replaced with fuses with the value specified in the operating instructions
or printed on the module.
Item
1
Designation
Description
Fusing
F250
Test signal power supply, safe
inputs and relay activation
4A
Extended SIB
Fig. 12-10: Extended SIB fuse
A defective fuse is indicated by a red LED next to the fuse. Once the
cause of the fault has been eliminated, defective fuses must be replaced with fuses with the value specified in the operating instructions
or printed on the module.
158 / 183
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Item
1
12.9
Designation
Description
Fusing
F260
Test signal power supply, safe
inputs and relay activation
4A
Checking the KUKA Servo Pack
Description
The KSP LED display consists of the following LED groups:
KSP device status
Axis control
Communication status
If faults occur during the initialization phase, the middle axis control LEDs
flash. All other LEDs are off. The red axis control LED is lit continuously and
the green axis control LED flashes at 2 to 16 Hz, followed by a pause.
If defective firmware is detected during the initialization phase, the red device
status LED is lit and the green device status LED is dimmed.
Precondition
The robot controller is energized (50-600 V) when it is
switched on. This voltage can cause life-threatening injuries on contact. Work and measurements on the electrical equipment may
only be carried out by specially trained personnel.
Procedure
1. Check communication status LED group.
2. Check KSP device status LED group.
3. Check axis control LED group.
Overview
Fig. 12-11: KSP LED display
1
2
Device status
LED group: axis control
3
LED group: communication
status
LED group: KSP device status
Red LED
Green LED
Meaning
Off
Off
No power supply to the control electronics
On
Off
Fault in the KSP
Off
Flashing
No communication with the controller
Off
On
Communication with the controller
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
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KR C4
Axis control
Red LED
Green LED
Meaning
Off
Off
No power supply to the control electronics
Axis not present
On
Flashing
No servo enable
Off
12.10
Fault in the axis
Off
Communication
Off
On
Servo enable
The green communication LEDs indicate the status of the bus connection.
Checking the KUKA Power Pack
Description
The KPP LED display consists of the following LED groups:
Power supply
KPP device status
Axis control
Communication status
If faults occur during the initialization phase, the middle axis control LEDs
flash. All other LEDs are off. The red axis control LED is lit continuously and
the green axis control LED flashes at 2 to 16 Hz, followed by a pause.
If defective firmware is detected during the initialization phase, the red device
status LED is lit and the green device status LED is dimmed.
Precondition
The robot controller is energized (50-600 V) when it is
switched on. This voltage can cause life-threatening injuries on contact. Work and measurements on the electrical equipment may
only be carried out by specially trained personnel.
Procedure
1. Check power supply LED group.
2. Check communication status LED group.
3. Check KSP device status LED group.
4. Check axis control LED group.
Overview
Fig. 12-12: KPP LED display
1
3
LED group: communication
status
2
160 / 183
LED group: power supply
LED group: KPP device status
4
LED group: axis control
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Power supply
Red LED
Off
No power supply to the control electronics
On
Off
Fault in the power supply
Off
Flashing
Intermediate circuit voltage out of
the permitted range
Off
On
Intermediate circuit voltage within
the permitted range
Red LED
Green LED
Meaning
Off
Off
No power supply to the control electronics
On
Off
Fault in the KPP
Off
Flashing
No communication with the controller
Off
Axis control
Meaning
Off
Device status
Green LED
On
Communication with the controller
Red LED
Green LED
Meaning
Off
Off
No power supply to the control electronics
Axis not present
On
12.11
Fault in the axis
Flashing
No servo enable
Off
Communication
Off
Off
On
Servo enable
The green communication LEDs indicate the status of the bus connection.
KPP and KSP error messages
The error messages have corresponding acknowledgement messages.
Description
In these messages, %1 stands for the device type (KSP or KPP).
In these messages, %2 stands for the number of the drive or power supply
(KSP or KPP).
%3 stands for error codes for further differentiation of the cause of the error.
Error no.
Error
Cause
Remedy
26030
Device state: OK
-
-
26031
Internal error,
KPP/KSP (axis)
The device has
detected an internal
error.
Reinitialize the drive bus:
Power Off / Power On
Check KPP (see LEDs)
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
161 / 183
KR C4
Error no.
Error
Cause
Remedy
26032
IxT overload
error, KPP/KSP
(axis)
Axis overloaded
Mean continuous current too high
During start-up = & gt; excessive
load in program
Reinitialize the drive bus:
Power Off / Power On
During operation
Power
Excessive load
Modifications to system
Check machine
Temperature influences
Check motor
Check motor cable
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check trace recording of the
intermediate circuit
Check mains voltage
Check ballast switch
Excessive load during braking
= & gt; reduce
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check trace recording of the
intermediate circuit
Check mains voltage
Check intermediate circuit cabling
Reinitialize the drive bus:
Power Off / Power On
Check KSP
162 / 183
Undervoltage in intermediate circuit during
operation
Check trace recording of axis/
current
Intermediate circuit voltage too
low, KPP/KSP
(axis)
26036
Check KPP
Overvoltage in intermediate circuit during
operation
Check KSP
Intermediate circuit voltage too
high, KPP/KSP
(axis)
Reinitialize the drive bus:
Power Off / Power On
26035
Check motor
Fault that briefly results
in an overcurrent that
exceeds the maximum
current of the KPP
(short-circuit,…)
Overcurrent,
KPP/KSP (axis)
Check motor cable
26034
Check gear unit
Power unit overcurrent
(ground fault)
Check CBS pressure
Ground fault,
KPP/KSP (axis)
Adapt program velocity
26033
Check trace recording of axis/
current
Check KPP charging circuit
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Error no.
Error
Cause
Remedy
26037
Logic supply voltage too high,
KPP/KSP (axis)
Overvoltage in 27 V
supply
Check 27 V supply
Check power supply to 27 V
power supply unit
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check 27 V supply
Check power supply to 27 V
power supply unit
Check battery
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check cabinet fan
Check ambient temperature
Load in program too high,
check load
Dirt in cooling circuit = & gt; clean
Check PC fan
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check cabinet fan
Check ambient temperature
Load in program too high,
check and reduce load
Dirt in cooling circuit = & gt; clean
Check installation site, ventilation slits and clearance
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check motor cable
Check motor
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Reinitialize the drive bus:
Power Off / Power On
Check EtherCat cabling
Check EtherCat stack
Check CCU
Check KPP
Check KSP
26038
26039
26040
26041
26042
Logic supply voltage too low, KPP/
KSP (axis)
Device temperature too high,
KPP/KSP (axis)
Heat sink temperature too high,
KPP/KSP (axis)
Motor phase failure, KPP/KSP
(axis)
Communication
error, KPP/KSP
(axis)
Undervoltage in 27 V
supply
Overtemperature
Overtemperature, heat
sink
Failure of motor phase
Communication error
on the controller bus
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
163 / 183
KR C4
Error no.
Error
Cause
Remedy
26043
Unknown status
flag received,
KPP/KSP (axis)
Software error, EtherCat master
-
26044
Unknown device
status, KPP/KSP
(axis)
-
-
26045
Hardware fault,
KPP/KSP (axis)
The device has
detected an internal
hardware fault.
Reinitialize the drive bus:
Power Off / Power On
Check device (see LEDs)
Exchange device
Check power lead
Check KPP cabling
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Check power lead
Check KPP cabling
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Mains voltage too high
Too few capacitors connected
(too few modules)
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Check ballast resistor
Check cabling between KPP
and ballast resistor
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Reduce heavy loads that are
braked too frequently
Check ballast resistor
Check cabling between KPP
and ballast resistor
Reinitialize the drive bus:
Power Off / Power On
Check KPP
26046
26047
26048
26050
26051
164 / 183
Mains phase failure, KPP/KSP
(axis)
Power supply failure, KPP/KSP
(axis)
Overvoltage during charging,
KPP/KSP (axis)
Fault in brake
resistor, KPP/KSP
(axis)
Ballast circuit
overload, KPP/
KSP (axis)
Failure of mains phase
Failure, supply voltage
below 300 V
-
KPP has detected an
error in the ballast circuit
Braking energy permanently too high
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Error no.
Error
Cause
Remedy
26130
Intermediate circuit charging
failed, KPP/KSP
(axis)
-
Check intermediate circuit cabling
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check brake voltage = & gt; fault
in all axes
Check motor / brake (measure)
Check brake cable / motor cable
Reinitialize the drive bus:
Power Off / Power On
Check KSP
26132
12.12
Collective brake
fault, KPP/KSP
(axis)
Brake cable monitoring device has signaled
short-circuit, overloading or break in connection. / short-circuit /
overcurrent / no brake
connected
KPP and KSP warning messages
Description
The warning messages have corresponding acknowledgement messages.
In these messages, %2 stands for the number of the drive or power supply
(KSP or KPP).
Error no.
In these messages, %1 stands for the device type (KSP or KPP).
%3 stands for error codes for further differentiation of the cause of the error.
Warning
Cause
Remedy
26102
Device state: OK
-
-
26103
Internal error,
KPP/KSP (axis)
The device has
detected an internal
error.
Reinitialize the drive bus:
Power Off / Power On
Check KPP (see LEDs)
Axis overloaded
Mean continuous current too high
During start-up = & gt; excessive
load in program
Reinitialize the drive bus:
Power Off / Power On
During operation
26104
IxT overload
error, KPP/KSP
(axis)
Power
Excessive load
Modifications to system
Check machine
Temperature influences
Check motor cable
Check motor
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Check gear unit
Power unit overcurrent
(ground fault)
Check CBS pressure
Ground fault,
KPP/KSP (axis)
Adapt program velocity
26105
Check trace recording of axis/
current
Check KPP
165 / 183
KR C4
Error no.
Warning
Cause
Remedy
26106
Overcurrent,
KPP/KSP (axis)
Fault that briefly results
in an overcurrent that
exceeds the maximum
current of the KPP
(short-circuit,…)
Check trace recording of axis/
current
Check motor
Check motor cable
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check trace recording of the
intermediate circuit
Check mains voltage
Check ballast switch
Excessive load during braking
= & gt; reduce
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check trace recording of the
intermediate circuit
Check mains voltage
Check intermediate circuit cabling
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP charging circuit
Check 27 V supply
Check power supply to 27 V
power supply unit
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check 27 V supply
Check power supply to 27 V
power supply unit
Check battery
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
26107
26108
26109
26110
166 / 183
Intermediate circuit voltage too
high, KPP/KSP
(axis)
Intermediate circuit voltage too
low, KPP/KSP
(axis)
Logic supply voltage too high,
KPP/KSP (axis)
Logic supply voltage too low, KPP/
KSP (axis)
Overvoltage in intermediate circuit during
operation
Undervoltage in intermediate circuit during
operation
Overvoltage in 27 V
supply
Undervoltage in 27 V
supply
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
12 Troubleshooting
Error no.
Warning
Cause
Remedy
26111
Device temperature too high,
KPP/KSP (axis)
Overtemperature
Check cabinet fan
Check ambient temperature
Load in program too high,
check load
Dirt in cooling circuit = & gt; clean
Check PC fan
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check cabinet fan
Check ambient temperature
Load in program too high,
check and reduce load
Dirt in cooling circuit = & gt; clean
Check installation site, ventilation slits and clearance
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check motor cable
Check motor
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Reinitialize the drive bus:
Power Off / Power On
Check EtherCat cabling
Check EtherCat stack
Check CCU
Check KPP
Check KSP
26112
26113
26114
Heat sink temperature too high,
KPP/KSP (axis)
Motor phase failure, KPP/KSP
(axis)
Communication
error, KPP/KSP
(axis)
Overtemperature, heat
sink
Failure of motor phase
Communication error
on the controller bus
26115
Unknown status
flag received,
KPP/KSP (axis)
Software error, EtherCat master
-
26116
Unknown device
status, KPP/KSP
(axis)
-
-
26117
Hardware fault,
KPP/KSP (axis)
The device has
detected an internal
hardware fault.
Reinitialize the drive bus:
Power Off / Power On
Check device (see LEDs)
Exchange device
Check power lead
Check KPP cabling
Reinitialize the drive bus:
Power Off / Power On
Check KPP
26118
Mains phase failure, KPP/KSP
(axis)
Failure of mains phase
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
167 / 183
KR C4
Error no.
Warning
Cause
Remedy
26119
Power supply failure, KPP/KSP
(axis)
Failure, supply voltage
below 300 V
Check power lead
Check KPP cabling
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Mains voltage too high
Too few capacitors connected
(too few modules)
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Check KSP, improbable
Check ballast resistor
Check cabling between KPP
and ballast resistor
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Reduce heavy loads that are
braked too frequently
Check ballast resistor
Check cabling between KPP
and ballast resistor
Reinitialize the drive bus:
Power Off / Power On
Check KPP
Check intermediate circuit cabling
Reinitialize the drive bus:
Power Off / Power On
Check KSP
Check KPP
Check brake voltage = & gt; fault
in all axes
Check motor / brake (measure)
Check brake cable / motor cable
Reinitialize the drive bus:
Power Off / Power On
Check KSP
26120
26122
26123
26131
26133
168 / 183
Overvoltage during charging,
KPP/KSP (axis)
Fault in brake
resistor, KPP/KSP
(axis)
Ballast circuit
overload, KPP/
KSP (axis)
Intermediate circuit charging
failed, KPP/KSP
(axis)
Collective brake
fault, KPP/KSP
(axis)
-
KPP has detected an
error in the ballast circuit
Braking energy permanently too high
-
Brake cable monitoring device has signaled
short-circuit, overloading or break in connection. / short-circuit /
overcurrent / no brake
connected
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
13 Decommissioning, storage and disposal
13
Decommissioning, storage and disposal
13.1
Decommissioning
Description
This section describes all the work required for decommissioning the robot
controller if the robot controller is to be removed from the system. After decommissioning, it is prepared for storage or for transportation to a different location.
Following its removal, the robot controller may only be transported with lifting
tackle and a fork lift truck or pallet truck.
The removal site must be accessible with a crane or with a fork lift truck for
transportation.
The crane and fork lift truck have an adequate carrying capacity.
Procedure
Precondition
There is no hazard posed by system components.
1. Release and unplug all peripheral connections.
2. Release and unplug motor cable connector and control cable connector.
3. Disconnect the ground conductor.
4. Prepare the robot controller for storage.
13.2
Storage
Preconditions
If the robot controller is to be put into long-term storage, the following points
must be observed:
Avoid temperature fluctuations.
Avoid wind and drafts.
Avoid condensation.
Observe and comply with the permissible temperature ranges for storage.
Select a storage location in which the packaging materials cannot be damaged.
Procedure
The place of storage must be as dry and dust-free as possible.
Only store the robot controller indoors.
1. Clean robot controller. No dirt may remain on or in the robot controller.
2. Inspect the robot controller, both internally and externally, for damage.
3. Remove batteries and store in accordance with the manufacturer’s instructions.
4. Remove any foreign bodies.
5. Remove any corrosion expertly.
6. Attach all covers to the robot controller and check that the seals are correctly in place.
7. Seal off electrical connections with suitable covers.
8. Cover the robot controller with plastic film and seal it against dust.
If necessary, add a desiccant beneath the sheeting.
13.3
Disposal
When the robot controller reaches the end of its useful life, it can be dismantled, and the materials can be disposed of properly by type.
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
169 / 183
KR C4
The following table provides an overview of the materials used in the robot
controller. Some of the plastic components are marked with a material designation and must be disposed of accordingly.
As the end user, the customer is legally required to return depleted
batteries. Used batteries can be returned to the vendor or brought to
the designated collection points (e.g. in communal refuse collection
facilities or commercial centers) free of charge. The batteries can also be
sent to the vendor by post.
The following symbols can be found on the batteries:
Crossed-out garbage can: battery must not be disposed of with ordinary
household refuse.
Pb: battery contains more than 0.004 lead by weight.
Cd: battery contains more than 0.002 cadmium by weight.
Hg: battery contains more than 0.0005 mercury by weight.
Material, designation
Note
Steel
Screws and washers,
robot controller housing
-
PUR
Cable sheaths
-
ETFE
Flexible tube
-
Copper
Electrical cables, wires
-
EPDM
Seals and covers
-
CuZn (gold-plated)
Connectors, contacts
Dispose of without dismantling
Steel (ST 52-3)
Allen screws, washers
-
PE
Cable straps
-
Electrical components
170 / 183
Subassembly, component
Bus modules, boards,
sensors
Dispose of as electrical scrap without disassembling
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
14 KUKA Service
14
KUKA Service
14.1
Requesting support
Introduction
The KUKA Roboter GmbH documentation offers information on operation and
provides assistance with troubleshooting. For further assistance, please contact your local KUKA subsidiary.
Information
The following information is required for processing a support request:
Model and serial number of the robot
Model and serial number of the controller
Model and serial number of the linear unit (if applicable)
Model and serial number of the linear unit (if applicable)
Version of the KUKA System Software
Optional software or modifications
Archive of the software
For KUKA System Software V8: instead of a conventional archive, generate the special data package for fault analysis (via KrcDiag).
Any external axes used
14.2
Application used
Description of the problem, duration and frequency of the fault
KUKA Customer Support
Availability
KUKA Customer Support is available in many countries. Please do not hesitate to contact us if you have any questions.
Argentina
Ruben Costantini S.A. (Agency)
Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
ventas@costantini-sa.com
Australia
Headland Machinery Pty. Ltd.
Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australia
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
vic@headland.com.au
www.headland.com.au
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
171 / 183
KR C4
Belgium
Brazil
KUKA Roboter do Brasil Ltda.
Avenida Franz Liszt, 80
Parque Novo Mundo
Jd. Guançã
CEP 02151 900 São Paulo
SP Brazil
Tel. +55 11 69844900
Fax +55 11 62017883
info@kuka-roboter.com.br
Chile
Robotec S.A. (Agency)
Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
robotec@robotec.cl
www.robotec.cl
China
KUKA Automation Equipment (Shanghai) Co., Ltd.
Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1808
Fax +86 21 6787-1805
info@kuka-sha.com.cn
www.kuka.cn
Germany
172 / 183
KUKA Automatisering + Robots N.V.
Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
info@kuka.be
www.kuka.be
KUKA Roboter GmbH
Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
info@kuka-roboter.de
www.kuka-roboter.de
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
14 KUKA Service
France
KUKA Automatisme + Robotique SAS
Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
commercial@kuka.fr
www.kuka.fr
India
KUKA Robotics India Pvt. Ltd.
Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
info@kuka.in
www.kuka.in
Italy
KUKA Roboter Italia S.p.A.
Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
kuka@kuka.it
www.kuka.it
Japan
KUKA Robotics Japan K.K.
Daiba Garden City Building 1F
2-3-5 Daiba, Minato-ku
Tokyo
135-0091
Japan
Tel. +81 3 6380-7311
Fax +81 3 6380-7312
info@kuka.co.jp
Korea
KUKA Robotics Korea Co. Ltd.
RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
info@kukakorea.com
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
173 / 183
KR C4
Malaysia
Mexico
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.
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
info@kuka.com.mx
Norway
KUKA Sveiseanlegg + Roboter
Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
info@kuka.no
Austria
KUKA Roboter Austria GmbH
Vertriebsbüro Österreich
Regensburger Strasse 9/1
4020 Linz
Austria
Tel. +43 732 784752
Fax +43 732 793880
office@kuka-roboter.at
www.kuka-roboter.at
Poland
174 / 183
KUKA Robot Automation Sdn Bhd
South East Asia Regional Office
No. 24, Jalan TPP 1/10
Taman Industri Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 3 8061-0613 or -0614
Fax +60 3 8061-7386
info@kuka.com.my
KUKA Roboter Austria GmbH
Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
ServicePL@kuka-roboter.de
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
14 KUKA Service
Portugal
KUKA Sistemas de Automatización S.A.
Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
kuka@mail.telepac.pt
Russia
OOO KUKA Robotics Rus
Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru
Sweden
KUKA Svetsanläggningar + Robotar AB
A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
info@kuka.se
Switzerland
KUKA Roboter Schweiz AG
Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
info@kuka-roboter.ch
www.kuka-roboter.ch
Spain
KUKA Robots IBÉRICA, S.A.
Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
Comercial@kuka-e.com
www.kuka-e.com
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
175 / 183
KR C4
South Africa
Taiwan
KUKA Robot Automation Taiwan Co., Ltd.
No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
info@kuka.com.tw
www.kuka.com.tw
Thailand
KUKA Robot Automation (M)SdnBhd
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 7502737
Fax +66 2 6612355
atika@ji-net.com
www.kuka-roboter.de
Czech Republic
KUKA Roboter Austria GmbH
Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
support@kuka.cz
Hungary
176 / 183
Jendamark Automation LTD (Agency)
76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za
KUKA Robotics Hungaria Kft.
Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
info@kuka-robotics.hu
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
14 KUKA Service
USA
KUKA Robotics Corp.
22500 Key Drive
Clinton Township
48036
Michigan
USA
Tel. +1 866 8735852
Fax +1 586 5692087
info@kukarobotics.com
www.kukarobotics.com
UK
KUKA Automation + Robotics
Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
sales@kuka.co.uk
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
177 / 183
KR C4
178 / 183
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Index
Index
Numbers
2004/108/EC 61
2006/42/EC 61
24 V external power supply 18
89/336/EEC 61
95/16/EC 61
97/23/EC 61
A
Accessories 13, 39
Altitude 29
Ambient temperature 29
Applied norms and regulations 61
Automatic mode 58
Axis range 41
Axis range limitation 50
Axis range monitoring 50
B
Basic data 29
Batteries 13, 19
Batteries, exchanging 141
Battery discharge protection, reversing 107
Brake defect 53
Brake release device 51
Braking distance 41
Bus devices 19
C
Cabinet Control Unit 13, 16
Cabinet Control Unit LED display 145
Cabinet Control Unit, exchanging 133
Cabinet Control Unit, fusing 149
Cabinet cooling 26
Cabinet Interface Board 16
Cable lengths 30, 67
CCU 9, 16
CCU functions 16
CCU LED display, overview 145
CE mark 40
Charge 19
CIB 9, 16
Cleaning work 59
Configuration of cooling circuit 27
Connecting cables 13, 39
Connecting cables for palletizing robot 99
Connecting cables, standard 95
Connection conditions 66
Connection manager 112
Connection panel 13
Connector pin allocation X11 70
Connector pin allocation X20 96, 103, 104
Control PC 13, 15
Control PC components 122
Control PC, exchanging 124
Control PC, functions 16
Control unit 30
Controller System Panel 13, 18
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Controller System Panel LED display 151
Controller System Panel LED error display 152
Cooling circuits 26
Counterbalancing system 59
CSP 10, 18
CSP LED display 151
CSP LED error display 152
CSP overview 18
Customer equipment 27
D
D2608-K interfaces 122
D3076-K interfaces 123
Danger zone 41
Data cables 22, 99
Declaration of conformity 40
Declaration of incorporation 39, 40
Decommissioning 60, 169
Defective fuse 149, 158
Dimensions of boreholes 34
Dimensions of robot controller 32
Dimensions, smartPAD holder 34
Disposal 60, 169
Documentation, industrial robot 9
Drive controller 13
Drive power supply 13
Dual NIC card 10
Dual NIC network card, exchanging 126
Dynamic testing 76
E
EA 10
EC declaration of conformity 40
EDS 10
Electromagnetic compatibility, EMC 63
EMC 10
EMC Directive 40, 61
EMD 10
EMERGENCY STOP 112
EMERGENCY STOP device 47, 48, 53
EMERGENCY STOP devices to X11 74
EMERGENCY STOP wiring example 74
EMERGENCY STOP, external 48, 55
EMERGENCY STOP, local 55
EN 60204-1 62
EN 61000-6-2 62
EN 61000-6-4 62
EN 614-1 62
EN ISO 10218-1 62
EN ISO 12100 62
EN ISO 13849-1 61
EN ISO 13849-2 62
EN ISO 13850 61
Enabling device 48, 53
Enabling device, external 49
Enabling switch 113
Enabling switches 48
Environmental conditions 29
179 / 183
KR C4
Equipotential bonding 29, 66
Error states, CSP 153
EtherCAT connection on the CIB 84
Exchanging devices 86, 127, 128
Exhaustive discharge of battery 30, 143
Extended SIB relay outputs, checking 117
Extended SIB, connections 137
Extended SIB, fuse 158
Extended SIB, LED display 156
External axes 39, 42
External enabling switch, function 73
External fan, exchange 121
External voltage 30, 67
F
Fans 13
Faults 54
Filter mats 26
Floor mounting 34
Full-load current 29, 66
Function test 55
Fuse elements 13
G
General safety measures 53
Guard interlock 46
H
Hard drive, exchanging 127
Hazardous substances 60
Humidity class 29
I
Identification plate 113
Industrial robot 13, 39
Infeed 22
Installation, KUKA System Software 144
Intended use 11, 39
Interface X11, description 68
Interfaces, connection panel 22
Interfaces, control PC 24
Interfaces, motherboard D2608-K 24
Interfaces, motherboard D3076-K 25
Introduction 9
J
Jog keys 112
Jog mode 49, 53
K
KCB 10
KCB configuration variants 20
KCB devices 20
KCP 10, 41, 53, 111
KEB 10
KEB configuration variants 20
KEB devices 20
Keyboard 112
Keyboard key 112
KLI 10
KOI 10
180 / 183
KPC 10
KPP 10, 15
KPP and KSP warning messages 165
KPP error messages 161
KPP, exchanging 128
KRL 10
KSB 10
KSB configuration variants 20
KSB devices 20
KSI 10
KSP 10, 15
KSP error messages 161
KSP, exchanging 131
KSS 10
KUKA Control Panel 111
KUKA Customer Support 171
KUKA Power Pack 13, 15
KUKA Power Pack, checking 160
KUKA Servo Pack 13, 15
KUKA Servo Pack, checking 159
KUKA smartPAD 30, 41, 111
KUKA smartPAD cable 22
KUKA smartPAD holder (optional) 26
KUKA smartPAD holder, fastening 67
L
Labeling 52
LAN Onboard LED display 153
LED group KPP axis control 161
LED group KPP communication 161
LED group KPP device status 161
LED group KPP power supply 161
LED group KSP axis control 160
LED group KSP communication 160
LED group KSP device status 159
Liability 39
Lifting frame 89
Linear unit 39
Low Voltage Directive 40
Low-voltage power supply unit 13, 18
Low-voltage power supply unit, exchanging 143
M
Machine data 56
Machinery Directive 40, 61
Mains filter 19
Mains frequency 29, 66
Mains-side fusing 29, 66
Maintenance 58, 115
Maintenance symbols 115
Manipulator 10, 13, 39, 41, 44
Manual mode 57
Material designation 170
Mechanical axis range limitation 50
Mechanical end stops 50
Minimum clearances, robot controller 32
Mode selection 45, 46
Modifying the system configuration 86, 127
Monitoring, velocity 49
Motherboard battery, exchange 126
Motherboard D2608-K 24
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Index
Motherboard D2608-K interfaces 122
Motherboard D3076-K 25, 26
Motherboard D3076-K interfaces 123
Motherboard, exchange 126
Motherboards 24
Motor cable, external axes 7 and 8 104
Motor cable, external axis 7 98
Motor cable, external axis 8 98
Motor cables 22
Motor cables, 4-axis palletizing robot 104
Motor cables, 5-axis palletizing robot 103
Motor cables, heavy-duty palletizing robot 101
Motor cables, heavy-duty robot 97, 102
Motor cables, X20 96
Mounting plate for customer components 27
O
Operation 111
Operator 41, 43
Operator safety 45, 46, 53
Options 13, 39
Overload 53
Overview of robot controller 13
Overview of the industrial robot 13
Overview, start-up 93
P
Panic position 48
PC fan, exchanging 124
PE cables 22
PE equipotential bonding 85
PE equipotential bonding, connecting 106
PELV power supply unit 30, 67
Performance level 87
Performance Level 45
Peripheral cables 22
Permissible tolerance of rated voltage 29, 66
Personnel 42
PFH values 87
PL 87
Plant integrator 42
Plates and labels 35
PMB 16
Positioner 39
Power cable 22
Power cable, connecting 106
Power failure 19
Power Management Board 16
Power supply connection X1 Harting connector
68
Power supply connection, technical data 29, 66
Power supply with battery backup 17
Power supply without battery backup 17
Power switched off 19
Pressure Equipment Directive 59, 61
Pressure relief plug, exchanging 144
Preventive maintenance work 59
Procurement of spare parts 119
Product description 13
PROFIsafe enabling switch 81
Protective equipment 49
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
Purpose 11
R
Rated supply voltage 29, 66
RDC 10
RDC functions 17
RDC LED display, overview 150
Reaction distance 41
Recommissioning 54, 93
Release device 51
Repair 58, 119
Resolver Digital Converter 17
Resolver Digital Converter, exchanging 139
Resolver Digital Converter, LED display 150
Robot controller 13, 39
Robot controller stacked 65
Robot controller, cleaning 117
Robot controller, installing 94
S
Safe operational stop 41, 49
Safeguard to X11 74
Safeguards, external 52
Safely isolated 30, 67
SafeOperation via PROFIsafe 82
Safety 39
Safety controller 46
Safety functions 53
Safety functions, overview 45
Safety functions, PROFIsafe 77
Safety gate, wiring example 74
Safety instructions 9
Safety Interface Board 13, 17, 31
Safety Interface Board, exchanging 136
Safety Interface Board, fuses 157
Safety Interface Board, LED display 154
Safety STOP 0 41
Safety STOP 1 41
Safety STOP 2 42
Safety STOP 0 41
Safety STOP 1 41
Safety STOP 2 42
Safety stop, external 49
Safety zone 41, 43, 44
Safety, general 39
SATA connections 10
Semiconductor fuse 157
Service life 41
Service, KUKA Roboter 171
SG FC 10
SIB 10, 17, 31
SIB description 17
SIB functions 17
SIB inputs 31
SIB LED display, overview 154
SIB outputs 31
SIB relay outputs, checking 116
SIB wiring 69
SIB, safe input 75
SIB, safe output 76
Signal “Peri enabled” 73
181 / 183
KR C4
Simulation 58
Single point of control 60
Sleep mode, CSP 152
Slot assignment, motherboard D2608-K 24
Slot assignment, motherboard D3076-K 26
smartPAD 41, 111
smartPAD holder, fastening 105
smartPAD, plugging in 105
Software 13, 39
Software limit switches 49, 53
Space Mouse 112
SPOC 60
Standard SIB, connections 136
Standard SIB, fuses 158
Start backwards key 112
Start key 112, 113
Start-up 54, 93
Start-up mode 56, 108
Start-up overview 93
Status keys 112
STOP 0 40, 42
STOP 1 40, 42
STOP 2 40, 42
Stop category 0 42
Stop category 1 42
Stop category 2 42
STOP key 112
Stop reactions 44
Stopping distance 41, 44
Storage 60, 169
Storage of batteries 142
Support request 171
Swing range for cabinet door 33
Switching on the robot controller 109
System configuration of the industrial robot modified 108
System integrator 40, 42, 43
U
US1 10
US2 10
USB 10
USB connection 113
Use, contrary to intended use 39
Use, improper 39
User 41, 42
V
Velocity monitoring 49
Vibration resistance 30
W
Warnings 9
Wiring example X11 120
Working range limitation 50
Workspace 41, 43, 44
X
X11, configuring 107
X11, contact diagram 72
X19 connector pin allocation 106
X20.1 connector pin allocation 97, 101
X20.4 connector pin allocation 97, 101
X21 connector pin allocation 99
X7.1 connector pin allocation 98
X7.2 connector pin allocation 98
X8 connector pin allocation 102
T
T1 42
T2 42
Target group 11
Teach pendant 13, 39
Technical data 29
Technology cabinet 34
Terms used 9
Terms used, safety 40
Test output A 71
Test output B 71
Touch screen 111
Trademarks 9
Training 11
Transport position 54
Transportation 54, 89
Transportation, fork lift truck 90
Transportation, lifting tackle 89
Transportation, pallet truck 90
Transportation, set of rollers 91
Troubleshooting 145
Turn-tilt table 39
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Issued: 30.05.2012 Version: BA KR C4 GI V5 en
KR C4
Issued: 30.05.2012 Version: BA KR C4 GI V5 en
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