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KUKA KRC4 Quick Reference
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Summary of Contents for Kuka KRC4
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Page 1
KUKA KRC4 Quick Reference… -
Page 2: Main Screen
Main screen 1 – Program folder 2 – Drives On/Off 3 – Cancel / Reset Program 4 – Run mode display T1, T2, Auto, Ext 5 – Jogging speed control 6 – Program motion control (Go, Motion, Single Step) 7 – Current Tool/Base setting 8 –…
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Page 3
JOG CONTROL — KEYS With the pendant Dead Man’s Switch depressed, and the motor drives on, these keys are used to jog the robot. Robot behaviour depends on the jog mode (e.g. World, Base, Axis etc. see button 11 above. Here the robot is in Axis mode and the jog switches move axes 1-6 independently… -
Page 4: Running A Program
Running a program Run a program: Highlight program in list Press SELECT Press R button Press RESET PROGRAM Hold Dead man’s switch Press (Run FWD) Exit a program: Press R button Press CANCEL PROGRAM…
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Page 5
Change operating mode T1 -> T2 -> AUTOMATIC -> EXT Turn key to ‘LOCK’ Select operating mode Turn key back to ‘UNLOCK’ *IMPORTANT – IN AUTOMATIC THE ROBOT RUNS AT FULL SPEED! NEVER RUN WITH PERSONNEL INSIDE THE CELL!
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KUKA Deutschland GmbH
Controller
KR C4 compact
Specification
Issued: 20.04.2018
Version: Spez KR C4 compact V10
Related Manuals for Kuka KR C4 compact
Summary of Contents for Kuka KR C4 compact
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Page 1
KUKA Deutschland GmbH Controller KR C4 compact Specification KR C4 com- pact Issued: 20.04.2018 Version: Spez KR C4 compact V10… -
Page 2
Subject to technical alterations without an effect on the function. KIM-PS5-DOC Translation of the original documentation Publication: Pub Spez KR C4 compact (PDF) en Book structure: Spez KR C4 compact V8.1 Version: Spez KR C4 compact V10 Issued: 20.04.2018 Version: Spez KR C4 compact V10 2 / 93… -
Page 3: Table Of Contents
Workspace, safety zone and danger zone …………..5.3.1 Determining stopping distances …………….Triggers for stop reactions ………………Safety functions ………………….5.5.1 Overview of the safety functions …………….5.5.2 Safety controller ………………..Issued: 20.04.2018 Version: Spez KR C4 compact V10 3 / 93…
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Page 4
Schematic circuit diagram for enabling switches ……….6.6.2 SafeOperation via Ethernet safety interface (optional) ……… 6.6.3 KUKA Line Interface X66 ………………Mastering test ………………….X65 EtherCAT interface ………………… X69 KUKA Service Interface ………………Issued: 20.04.2018 Version: Spez KR C4 compact V10 4 / 93… -
Page 5
Reversing the battery discharge protection measures ……….Configuring and connecting connector X11 …………… Switching on the robot controller …………….KUKA Service ………………..Requesting support ………………..KUKA Customer Support ………………. Index ………………….Issued: 20.04.2018 Version: Spez KR C4 compact V10 5 / 93… -
Page 6
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 6 / 93… -
Page 7: Introduction
Tip to make your work easier or reference to further information. Trademarks Windows is a trademark of Microsoft Corporation. EtherCAT® is a registered trademark and patented technol- ogy, licensed by Beckhoff Automation GmbH, Germany. Issued: 20.04.2018 Version: Spez KR C4 compact V10 7 / 93…
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Page 8: Terms Used
Data bus for exchanging data between the pro- cessor and the hard drive Universal Serial Bus. Bus system for connecting additional devices to a computer External axis (linear unit, Posiflex) Issued: 20.04.2018 Version: Spez KR C4 compact V10 8 / 93…
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Page 9: Purpose
KUKA College. Information about the training program can be found at www.kuka.com or can be ob- tained directly from our subsidiaries. Intended use The robot controller KR C4 compact is intended solely for operating the follow- ing components: KUKA industrial robots …
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Page 10
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 10 / 93… -
Page 11: Product Description
The robot controller consists of the following components: Control PC Power unit Safety logic smartPAD teach pendant Connection panel The robot controller can be installed in a 19″ rack. Issued: 20.04.2018 Version: Spez KR C4 compact V10 11 / 93…
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Page 12: Control Box
Low-voltage power supply unit Options Memory card (EDS) Motherboard Cabinet Control Unit, Small Batteries Robot (CCU_SR) Interfaces in the cover 3.3.1 Control PC The control PC (KPC) includes the following components: Components Issued: 20.04.2018 Version: Spez KR C4 compact V10 12 / 93…
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Page 13: Cabinet Control Unit, Small Robot
Fan power supply monitoring Temperature sensing: Control box internal temperature The following components are connected to the KPC via the KUKA Con- troller Bus: Drive box Resolver digital converter The following operator panels and service devices are connected to the …
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Page 14: Low-Voltage Power Supply Unit
The mains filter (interference suppressor filter) suppresses interference volt- Description ages on the power cable. Drive box (Drive Configuration (DC)) The drive box consists of the following components: Fig. 3-4: Overview of drive box Issued: 20.04.2018 Version: Spez KR C4 compact V10 14 / 93…
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Page 15: Description Of Interfaces
Only one of the safety interfaces can be used at a time. The configuration of the connection panel varies according to customer re- quirements and options. In this documentation, the robot controller is de- scribed with the maximum configuration. Issued: 20.04.2018 Version: Spez KR C4 compact V10 15 / 93…
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Page 16: Control Pc Interfaces
RC elements and VCR resistors are not suitable. KUKA Deutschland GmbH has assembled, tested and supplied the motherboard with an optimum configuration. No liability will be ac- cepted for modifications to the configuration that have not been car- ried out by KUKA Deutschland GmbH.
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Page 17: Motherboard D3076-K Pc Interfaces
4 USB 2.0 ports LAN Onboard – KUKA Option Network Interface KUKA Deutschland GmbH has assembled, tested and supplied the motherboard with an optimum configuration. No liability will be ac- cepted for modifications to the configuration that have not been car- ried out by KUKA Deutschland GmbH.
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Page 18: Motherboard D3236-K Pc Interfaces
4 USB 2.0 ports LAN Onboard – KUKA Option Network Interface KUKA Deutschland GmbH has assembled, tested and supplied the motherboard with an optimum configuration. No liability will be ac- cepted for modifications to the configuration that have not been car- ried out by KUKA Deutschland GmbH.
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Page 19: Motherboard D3445-K Pc Interfaces
(smartPAD, VRP) is connected to the controller. KUKA Deutschland GmbH has assembled, tested and supplied the motherboard with an optimum configuration. No liability will be ac- cepted for modifications to the configuration that have not been car- ried out by KUKA Deutschland GmbH.
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Page 20: Cooling
Cooling circuit, control box Fig. 3-12: Cooling circuit, control box Air inlet Air outlet Fans Cooling circuit, drive box Fig. 3-13: Cooling circuit, drive box Air inlet Air outlet Fans Issued: 20.04.2018 Version: Spez KR C4 compact V10 20 / 93…
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Page 21: Technical Data
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. Issued: 20.04.2018 Version: Spez KR C4 compact V10 21 / 93…
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Page 22: Dimensions
The difference in the cable lengths between the individual channels of the RDC box must not exceed 10 m. Dimensions The dimensions of the robot controller are indicated in the diagram (>>> Fig. 4-1 ). Issued: 20.04.2018 Version: Spez KR C4 compact V10 22 / 93…
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Page 23: Cabinet Interface Board, Small Robot
Switching cycles CIB_SR Service life: 20 years < 100,000 (corresponds to 13 switching cycles per day) The module must be exchanged when the number of switching cycles is ex- ceeded. Issued: 20.04.2018 Version: Spez KR C4 compact V10 23 / 93…
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Page 24: Dimensions Of The Smartpad Holder (Optional)
Dimensions of the smartPAD holder (optional) The diagram (>>> Fig. 4-2 ) shows the dimensions and drilling locations for mounting on the safety fence. Fig. 4-2: Dimensions and drilling locations for smartPAD holder Issued: 20.04.2018 Version: Spez KR C4 compact V10 24 / 93…
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Page 25: Dimensions Of Handle Brackets
The following plates and labels are attached to the robot controller. They must Overview not be removed or rendered illegible. Illegible plates and labels must be re- placed. Designations Fig. 4-4: Plates and labels Item Description Robot controller rating plate Issued: 20.04.2018 Version: Spez KR C4 compact V10 25 / 93…
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Page 26: Reach Duty To Communicate Information Acc. To Art. 33 Of Regulation (Ec) 1907/2006
None of these substances are released under normal and reasonably foreseeable conditions of use. Product REACH candidate/SVHC substance name CAS number CR 2032 button cell 1,2-Dimethoxyethane; Ethylene glycol dimethyl 110-71-4 ether (EGDME) Issued: 20.04.2018 Version: Spez KR C4 compact V10 26 / 93…
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Page 27: Safety
No modifications may be carried out to the industrial robot without the autho- rization of KUKA Deutschland GmbH. Additional components (tools, software, etc.), not supplied by KUKA Deutschland 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.
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Page 28: Ec Declaration Of Conformity And Declaration Of Incorporation
Danger zone The danger zone consists of the workspace and the stopping distances of the manipulator and external axes (optional). Issued: 20.04.2018 Version: Spez KR C4 compact V10 28 / 93…
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Page 29
The drives are deactivated immediately and the brakes are applied. The manipulator and any external axes (optional) perform path-oriented braking. Note: This stop category is called STOP 0 in this document. Issued: 20.04.2018 Version: Spez KR C4 compact V10 29 / 93… -
Page 30: Personnel
External axis Axis of motion that does not belong to the manipulator, yet is controlled with the robot controller. e.g. KUKA linear unit, turn-tilt table, Posiflex Personnel The following persons or groups of persons are defined for the industrial robot: User …
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Page 31: Workspace, Safety Zone And Danger Zone
This process must be re- peated several times with a safety stop 0 and a safety stop 1. The least favor- able stopping distance is decisive. Issued: 20.04.2018 Version: Spez KR C4 compact V10 31 / 93…
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Page 32: Triggers For Stop Reactions
External safe operational stop External safety stop 1 External safety stop 2 Velocity monitoring in T1 The safety functions of the industrial robot meet the following requirements: Issued: 20.04.2018 Version: Spez KR C4 compact V10 32 / 93…
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Page 33: Safety Controller
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. Issued: 20.04.2018 Version: Spez KR C4 compact V10 33 / 93…
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Page 34: Operator Safety» Signal
(e.g. safety gate is opened), the manipulator stops with a safety stop 1. Operator safety is not active in modes T1 (Manual Reduced Velocity) and T2 (Manual High Velocity). Issued: 20.04.2018 Version: Spez KR C4 compact V10 34 / 93…
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Page 35: Emergency Stop Device
I/O drivers > Reconfigure Restoration of an archive Effect of the interruption: If a discrete safety interface is used, this triggers an EMERGENCY STOP for the overall system. Issued: 20.04.2018 Version: Spez KR C4 compact V10 35 / 93…
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Page 36: External Emergency Stop Device
KR C4 compact If the Ethernet interface is used, the KUKA safety controller generates a signal that prevents the higher-level controller from triggering an EMER- GENCY STOP for the overall system. If the Ethernet safety interface is used: In his risk assessment, the…
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Page 37: External Enabling Device
Releasing the enabling switch triggers a safety stop 2. Pressing the enabling switch down fully (panic position) triggers a safety stop 1. Releasing the Start key triggers a STOP 2. Issued: 20.04.2018 Version: Spez KR C4 compact V10 37 / 93…
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Page 38: Software Limit Switches
The manipulator must be taken out of operation and KUKA Deutschland GmbH must be consulted be- fore it is put back into operation.
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Page 39: Labeling On The Industrial Robot
Information about the options available for the various robot models and about how to use them can be found in the assembly and oper- ating instructions for the robot or requested from KUKA Deutschland GmbH. Moving the manipulator without drive energy can dam- age the motor brakes of the axes concerned.
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Page 40: Overview Of Operating Modes And Safety Functions
In the absence of operational safety functions and safe- guards, the industrial robot can cause personal injury or material damage. If safety functions or safeguards are dismantled or deacti- vated, the industrial robot may not be operated. Issued: 20.04.2018 Version: Spez KR C4 compact V10 40 / 93…
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Page 41: Transportation
The prescribed transport position of the robot controller must be observed. Robot controller Transportation must be carried out in accordance with the operating instruc- tions or assembly instructions of the robot controller. Issued: 20.04.2018 Version: Spez KR C4 compact V10 41 / 93…
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Page 42: Start-Up And Recommissioning
KR C4 compact Avoid vibrations and impacts during transportation in order to prevent damage to the robot controller. The prescribed transport position of the external axis (e.g. KUKA linear unit, External axis turn-tilt table, positioner) must be observed. Transportation must be carried…
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Page 43: Checking Machine Data And Safety Configuration
Operating and Programming Instructions for System Integrators. If the practical tests are not successfully completed in the initial start-up, KUKA Deutschland GmbH must be contacted. If the practical tests are not successfully completed during a different proce- dure, the machine data and the safety-relevant controller configuration must be checked and corrected.
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Page 44
KL are mathematically coupled. robot on KUKA linear unit Move the KL manually in Cartesian mode. The practical test is passed if the TCP does not move at the same time. Issued: 20.04.2018 Version: Spez KR C4 compact V10 44 / 93… -
Page 45: Start-Up Mode
EMERGENCY STOP device is out of operation. If there is no safety fence, other measures must be taken to prevent per- sons from entering the manipulator’s danger zone, e.g. use of warning tape. Issued: 20.04.2018 Version: Spez KR C4 compact V10 45 / 93…
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Page 46: Manual Mode
Any use or application deviating from the intended use is deemed to be misuse Misuse and is not allowed. KUKA Deutschland GmbH is not liable for any damage re- sulting from such misuse. The risk lies entirely with the user.
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Page 47: Simulation
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 Issued: 20.04.2018 Version: Spez KR C4 compact V10 47 / 93…
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Page 48
Death or severe injuries may result. Faulty components must be replaced using new components with the same article numbers or equivalent components approved by KUKA Deutschland GmbH for this purpose. Cleaning and preventive maintenance work is to be carried out in accordance with the operating instructions. -
Page 49: Decommissioning, Storage And Disposal
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 dan- Issued: 20.04.2018 Version: Spez KR C4 compact V10 49 / 93…
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Page 50: Applied Norms And Regulations
Safety of machinery: Safety-related parts of control systems — Part 1: General principles of design EN ISO 13849-2:2012 Safety of machinery: Safety-related parts of control systems — Part 2: Validation Issued: 20.04.2018 Version: Spez KR C4 compact V10 50 / 93…
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Page 51
Electromagnetic compatibility (EMC): A1:2011 Part 6-4: Generic standards; Emission standard for industrial envi- ronments EN 60204- Safety of machinery: 1:2006/A1:2009 Electrical equipment of machines — Part 1: General requirements Issued: 20.04.2018 Version: Spez KR C4 compact V10 51 / 93… -
Page 52
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 52 / 93… -
Page 53: Planning
Both sides of the robot controller must always be accessible to the cooling air. Clearance of 70 mm on each side. Fig. 6-1: Dimensions Issued: 20.04.2018 Version: Spez KR C4 compact V10 53 / 93…
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Page 54: Connection Conditions
An overall cable length of 50 m must not be exceeded. The difference in the cable lengths between the individual channels of the RDC box must not exceed 10 m. Issued: 20.04.2018 Version: Spez KR C4 compact V10 54 / 93…
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Page 55: Power Supply Connection
E-STOP, dual-channel input, max. 24 V. (>>> «CIB_SR (Safe input 1) inputs» Page 24) External E-STOP, channel B Triggering of the E-STOP func- (Safe input 1) tion in the robot controller. Issued: 20.04.2018 Version: Spez KR C4 compact V10 55 / 93…
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Page 56
External enabling 2 channel B If no external enabling switch 2 (Safe input 7) is connected, channel A pins 22/23 and channel B 32/33 must be jumpered. Only effec- tive in TEST modes. Issued: 20.04.2018 Version: Spez KR C4 compact V10 56 / 93… -
Page 57
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” Issued: 20.04.2018 Version: Spez KR C4 compact V10 57 / 93… -
Page 58: Wiring Example For E-Stop Circuit And Safeguard
After the safety gate has closed, the signal for operator safety must only be confirmed by an external device, e.g. an acknowledge button, that can only be accessed from Issued: 20.04.2018 Version: Spez KR C4 compact V10 58 / 93…
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Page 59: Wiring Example For Safe Inputs And Outputs
The following diagram illustrates the connection of a safe input to a floating contact provided by the customer. Fig. 6-5: Connection schematic for safe input Issued: 20.04.2018 Version: Spez KR C4 compact V10 59 / 93…
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Page 60
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 Input X, channel A SIN_X_B Input X, channel B Issued: 20.04.2018 Version: Spez KR C4 compact V10 60 / 93… -
Page 61: Safety Functions Via Ethernet Safety Interface
0, then the manipulator either does not move or comes unex- pectedly 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 in- put is not used by the customer’s PLC, the safety function is not acti-…
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Page 62
Cancelation of this function does not require acknowl- edgement. This function is not permissible for the EMERGENCY STOP function. 0 = safety stop is active 1 = safety stop is not active Issued: 20.04.2018 Version: Spez KR C4 compact V10 62 / 93… -
Page 63
PLC, and the controller shuts down. 0 = confirmation is not active 1 = confirmation is active Issued: 20.04.2018 Version: Spez KR C4 compact V10 63 / 93… -
Page 64
0 = T1 mode is not active 1 = T1 mode is active The manipulator is in Manual High Velocity mode. 0 = T2 mode is not active 1 = T2 mode is active Issued: 20.04.2018 Version: Spez KR C4 compact V10 64 / 93… -
Page 65: Schematic Circuit Diagram For Enabling Switches
PROFIsafe of the KR C4. The response to the external enabling switch is then identical to that for a discretely connected X11. Signals Fig. 6-8: Schematic circuit diagram of external enabling switch Issued: 20.04.2018 Version: Spez KR C4 compact V10 65 / 93…
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Page 66: Safeoperation Via Ethernet Safety Interface (Optional)
The Ethernet safety interface can be used, for example, to signal a violation of safety monitoring functions. In the case of the KR C4 compact or KR C4 compact slimline robot controller, safety options such as SafeOperation are only available via the Ethernet safe- ty interface from KSS/VSS 8.3 onwards.
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Page 67
0 = safety option is not active. 1 = safety option is active Robot referenced Mastering test display 0 = mastering is not referenced. 1 = mastering test performed successfully. Issued: 20.04.2018 Version: Spez KR C4 compact V10 67 / 93… -
Page 68
1 = monitoring space is not violated. Note: An inactive monitoring space is consid- ered to be violated by default, i.e. in this case the associated safe output MR has the state “0”. Issued: 20.04.2018 Version: Spez KR C4 compact V10 68 / 93… -
Page 69: Kuka Line Interface X66
RJ45 connector Necessary equipment Fig. 6-9: RJ-45 pin assignment Recommended connecting cable: Ethernet-compatible, min. category CAT 5E Maximum cable cross-section: AWG22 Connector pin Description allocation X66 Issued: 20.04.2018 Version: Spez KR C4 compact V10 69 / 93…
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Page 70: Mastering Test
Recommended connecting cable: Ethernet-compatible, min. category CAT 5 Connector pin Description allocation TFPO_P TFPO_N TFPI_P TFPI_I Interface X65 can be wired internally to the CCU_SR, either directly or via a bus coupler. Issued: 20.04.2018 Version: Spez KR C4 compact V10 70 / 93…
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Page 71: X69 Kuka Service Interface
Interface X69 is intended for connecting a notebook for the purpose of diagno- Description sis, WorkVisual configuration, update, etc., via the KSI (KUKA Service Inter- face). The service notebook does not have to be connected to the shop network for this.
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Page 72: Performance Level
External safe operational stop External safety stop 1 External safety stop 2 Velocity monitoring in T1 Safety functions of KUKA Safe Robot Technology (optional) Issued: 20.04.2018 Version: Spez KR C4 compact V10 72 / 93…
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Page 73
Overview of controller variant PFH values: Robot controller variant PFH value KR C4 compact < 6.37 x 10 For controller variants that are not listed here, please contact KUKA Deutschland GmbH. Issued: 20.04.2018 Version: Spez KR C4 compact V10 73 / 93… -
Page 74
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 74 / 93… -
Page 75: Transportation
If the robot controller is installed in an electrical enclosure during transportation, this may result in vibrations (oscillations). Such vibra- tions can cause contact problems on the PC plug-in cards. Issued: 20.04.2018 Version: Spez KR C4 compact V10 75 / 93…
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Page 76
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 76 / 93… -
Page 77: Start-Up And Recommissioning
1. Connect motor connector X20 to the drive box. Procedure 2. Connect data cable connector X21 to the control box. Plugging in the KUKA smartPAD Plug the KUKA smartPAD to X19 on the robot controller. Procedure If the smartPAD is disconnected, the system can no lon- ger be switched off by means of the EMERGENCY STOP device on the smartPAD.
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Page 78: Connecting The Equipotential Bonding (Pe)
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 oc- cur. Issued: 20.04.2018 Version: Spez KR C4 compact V10 78 / 93…
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Page 79: Switching On The Robot Controller
The control PC begins to run up (load) the operating system and the con- trol software. Information about operator control of the manipulator using the smart- PAD can be found in the operating and programming instructions for the KUKA System Software. Issued: 20.04.2018 Version: Spez KR C4 compact V10 79 / 93…
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Page 80
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 80 / 93… -
Page 81: Kuka Service
tions Diagnostic package KRCDiag Additionally for KUKA Sunrise: Existing projects including applications For versions of KUKA System Software older than V8: Archive of the software (KRCDiag is not yet available here.) Application used External axes used …
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Page 82
Tel. +86 21 5707 2688 Fax +86 21 5707 2603 info@kuka-robotics.cn www.kuka-robotics.com KUKA Deutschland GmbH Germany Zugspitzstr. 140 86165 Augsburg Germany Tel. +49 821 797-1926 Fax +49 821 797-41 1926 Hotline.robotics.de@kuka.com www.kuka.com Issued: 20.04.2018 Version: Spez KR C4 compact V10 82 / 93… -
Page 83
Fax +81 45 744 7541 info@kuka.co.jp KUKA Robotics Canada Ltd. Canada 6710 Maritz Drive — Unit 4 Mississauga L5W 0A1 Ontario Canada Tel. +1 905 670-8600 Fax +1 905 670-8604 info@kukarobotics.com www.kuka-robotics.com/canada Issued: 20.04.2018 Version: Spez KR C4 compact V10 83 / 93… -
Page 84
Fax +47 61 18 62 00 info@kuka.no KUKA Roboter CEE GmbH Austria Gruberstraße 2-4 4020 Linz Austria Tel. +43 7 32 78 47 52 Fax +43 7 32 79 38 80 office@kuka-roboter.at www.kuka.at Issued: 20.04.2018 Version: Spez KR C4 compact V10 84 / 93… -
Page 85
Tel. +41 44 74490-90 Fax +41 44 74490-91 info@kuka-roboter.ch www.kuka-roboter.ch KUKA Roboter CEE GmbH Slovakia organizačná zložka Bojnická 3 831 04 Bratislava Slovakia Tel. +420 226 212 273 support.robotics.cz@kuka.com Issued: 20.04.2018 Version: Spez KR C4 compact V10 85 / 93… -
Page 86
25066 Zdiby Czech Republic Tel. +420 226 212 273 support.robotics.cz@kuka.com KUKA Robotics Hungaria Kft. Hungary Fö út 140 2335 Taksony Hungary Tel. +36 24 501609 Fax +36 24 477031 info@kuka-robotics.hu Issued: 20.04.2018 Version: Spez KR C4 compact V10 86 / 93… -
Page 87
Fax +1 866 329-5852 info@kukarobotics.com www.kukarobotics.com KUKA Robotics UK Ltd Great Western Street Wednesbury West Midlands WS10 7LL Tel. +44 121 505 9970 Fax +44 121 505 6589 service@kuka-robotics.co.uk www.kuka-robotics.co.uk Issued: 20.04.2018 Version: Spez KR C4 compact V10 87 / 93… -
Page 88
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 88 / 93… -
Page 89: Index
General safety measures 40 Danger zone 28 DC 14 Declaration of conformity 28 Hazardous substances 48 Declaration of incorporation 27, 28 Humidity class 21 Decommissioning 49 Description of the industrial robot 11 Issued: 20.04.2018 Version: Spez KR C4 compact V10 89 / 93…
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Page 90
Motherboards 16 Safety instructions 7 Motor cable, data cable 15 Safety interface, X11 55 Safety logic 11 Safety of machinery 50, 51 Operator safety 32, 34, 40 Safety options 29 Issued: 20.04.2018 Version: Spez KR C4 compact V10 90 / 93… -
Page 91
Terms used, safety 28 Test output A 55 Test output B 55 Trademarks 7 Training 9 Transportation 41, 75 Turn-tilt table 27 US2 45 USB 8 Use, contrary to intended use 27 Issued: 20.04.2018 Version: Spez KR C4 compact V10 91 / 93… -
Page 92
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 92 / 93… -
Page 93
KR C4 compact Issued: 20.04.2018 Version: Spez KR C4 compact V10 93 / 93…
Attached is the manual for the KUKA KRC4 Robot Controller
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Note for Owners:
Guidesimo.com webproject is not a service center of Kuka trademark and does not carries out works for diagnosis and repair of faulty Kuka KRC4 equipment. For quality services, please contact an official service center of Kuka company. On our website you can read and download documentation for your Kuka KRC4 device for free and familiarize yourself with the technical specifications of device.
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Table of Contents for Kuka KRC4:
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Change operating mode T1 -> T2 -> AUTOMATIC -> EXT Turn key to ‘LOCK’ Select operating mode Turn key back to ‘UNLOCK’ *IMPORTANT – IN AUTOMATIC THE ROBOT RUNS AT FULL SPEED! NEVER RUN WITH PERSONNEL INSIDE THE CELL!
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KUKA KRC4 Quick Reference 1 2 3 4 5 6 7 8 9 10 11
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Main screen 1 – Program folder 2 – Drives On/Off 3 – Cancel / Reset Program 4 – Run mode display T1, T2, Auto, Ext 5 – Jogging speed control 6 – Program motion control (Go, Motion, Single Step) 7 – Current Tool/Base setting 8 – Jogging step size 9 – Main Menu 10- Space Mouse Jog mode (World, Base, Tool, Axis) 11- Keys Jog Mode (World, Base, Tool, Axis)
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Running a program Run a program: Highlight program in list Press SELECT Press R button Press RESET PROGRAM Hold Dead man’s switch Press (Run FWD) Exit a program: Press R button Press CANCEL PROGRAM
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JOG CONTROL — KEYS With the pendant Dead Man’s Switch depressed, and the motor drives on, these keys are used to jog the robot. Robot behaviour depends on the jog mode (e.g. World, Base, Axis etc. see button 11 above. Here the robot is in Axis mode and the jog switches move axes 1-6 independently
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