CONTRO CONTROL L CABINET CABINET
KR C1 A
Conne onnect ction ion / Sta Startrt--up
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e Copyright
KUKA Robot Roboter GmbH GmbH
This This docu docum ment entatio ationor nor exce excerp rptts theref erefro romm mmayno aynotberep tberepro rodu duce ced d ordiscl ordisclose osed d to third ird part arties ies witho ithoutt uttheex heexpr press ess perm permissionof issionof thepubl hepublish isher ers. s. Other Other funct function ions s not describ described ed in this docu docum ment entation ation may be operab operable le in the the cont controller roller. The user has no no claim claim to these funct function ions, s, howeve howeverr, in the case of a repl replace acem ment ent or servi service ce work work.. We have have checked checked the conte content nt of this docum documenta entati tion on for conform conformity ity wit with the the hardw hardware are and softwa software re describ described. ed. Nevert Neverthe heless, less, discrep discrepan ancies cies cannot cannot be preclu precluded ded,, for which which reason reason we are are not able able to guar guarant antee total otal conform conformity ity. The inform information ation in this this docum documenta entati tion on is checked checked on a regul regular ar basis, basis, howev however er,, and and necessary necessary correct correction ions s will will be incorp incorpora oratted in subseque subsequent nt edit edition ions. s. Subject Subject to techn technical ical altera alterattions ions without hout an effect effecton on the funct function ion..
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Contents 1
General . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . .
5
2
Configuring the input/output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
3
Automatic system start . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . .. . . . . . .
7
4
The technology--specific organization program CELL.SRC . . . . . . . . . .
8
5
The P00 (AUTOMATIC EXTERNAL) module . . . . . . . . . . . . . . . . . . . . . . . .
10
5.1 5.1.1 5.1.2 5.1.3
The EXT_PGNO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Request of a program number from the host computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication of receipt of a program number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error treatment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 10 10 11
5.2
The EXT_ERR function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
6
Signal descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
6.1 6.1.1 6.1.2 6.1.3 6.1.4 6.1.5 6.1.6 6.1.7 6.1.8 6.1.9 6.1.10
Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO_LENGTH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO_FBIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO_PARITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO_VALID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . EXT_START . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MOVE_ENABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CONF_MESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DRIVES_ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DRIVES_OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 13 13 13 13 14 14 14 15 15 15
6.2 6.2.1 6.2.2 6.2.3 6.2.4 6.2.5 6.2.6 6.2.7 6.2.8 6.2.9 6.2.10 6.2.11
Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . STOPMESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO_REQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . APPL_RUN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PERI_RDY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ALARM_STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . USER_SAF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T1, T2, AUT, EXTERN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ON_PATH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PRO_ACT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IN_HOME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ERR_TO_PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16 16 16 16 16 16 16 16 17 18 18 18
6.3 6.3.1 6.3.2
Other variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PGNO_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 19 19
7
Signal diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
7.1
Automatic systemstart and normal operation with program number acknowledgement by means of PGNO_VALID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
7.2
Automatic systemstart and normal operation with program number acknowledgement by means of $EXT_START . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
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Connection / Start--up
7.3
Restart after dynamic braking (operator safety and restart) . . . . . . . . . . . . . . . . . . . . . . . . . .
22
7.4
Restart after path--maintaining EMERGENCY STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
7.5
Restart after motion enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24
7.6
Restart after user STOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
8
Restart after passive stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
9
Configuration example . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . .. . . . . . .
26
9.1
Declarations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
10
Messages . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . .
28
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Connection / Start--up
1
Connection (Connectingcables -- robot, groundconductor,powersupplyconnection, peripheral cables)
The controller must be connected inaccordance with the diagramin Fig. 2. The connection procedure can be divided into: G
Connection of connecting cables to robot
G
Connection of connecting cables to periphery
G
Robot equipotential bonding
G
Power supply connection
The following basic rules must be observed when connecting the controller:
Before thework is started, themain switch must beturned to “OFF” and locked.
Main switch
1
0
o
G
Cables not belonging to the controller must not be installed inside the control cabinet.
G
The ground conductors must not be looped or connected to an intermediate terminal.
G All cablesmustbeprotectedagainstmechanicaloranyother typeofstress (e.g. installed
on racks in the cable duct). Permissible cable lengths
The designations and standard and optional lengths of the connecting cables maybe noted from the table. Cable designation Motor cable (motor/brake monitoring) Signal cable (control cable) KCP cable
Length designation
Standard lengths in m
Optional lengths in m
L1
7
15 / 25
L1
7
15 / 25
L2
10
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2
2
Connector panel / Peripheral interfaces
Connector panel / Peripheral interfaces For the purpose of operating the robot in a stand--alone mode or with an external controller, or for controlling peripheral equipment through the robot system, the connectors X20, X7, X21, X19, X1 and X01 are provided. These connectors have the following functions: G
X20: Motor connector, axes 1/3/4
G
X7:
G
X21: Data connector
G
X11: Periphery data connector (optional)
G
X13: (optional)
G
X19: KCP connection
G
X1:
G
X01: Service socket (optional)
G
X7.1 Motor connector, external axis 7 (optional)
G
X7.2 Motor connector, external axis 8 (optional)
G
X8.1 Resolver connector, external axis 7 (optional)
G
X8.2 Resolver connector, external axis 8 (optional)
Motor connector, axes 2/5/6
Power supply connection HAN 6
The pin assignment of the CAN bus and Ethernet interfaces is also described in this documentation.
X20
X7
l a n o i t p O
X11
l a n o i t p O
) l a n o i t p o ( 3 1 X
X01 X1 X21
X19
PE
X7.1/X8.1 X7.2/X8.2
Fig. 1 Connector panel
All contactor, relay and valve coils that are connected to the robot controller must be equipped with appropriate suppressor diodes.
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Connection / Start--up
KUKA Control Panel
Connector panel, control cabinet KR C1 A 12 1 2 3 4 5
4 / 6 / 3 / 5 / 1 2 s s e e x x a a , , e l e l b b a a c c r r o t o t o o M M
1 2 3 4 5 6 7 8 9 10 11 12
6
7 8
9
10 11
l e n a P l o r t n o C
e l b a c a t a D
Connector panel, robot X30/X30.2
X31
Motor connector, axes 1; 3; 4 (X20) Motor connector, axes 2; 5; 6 (X7) Optional Peripheral interface (X11, optional) Optional Optional (X13) Data cable (X21) KCP connection (X19) Han 6 HsB power supply connection (X1) Motor connector X7.1, resolver connector X8.1 (optional) Motor connector X7.2, resolver connector X8.2 (optional) Service socket (optional) Fig. 2 Connection of connecting cables KRC1A_Anschluß07.99.1 en
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3
3
Connector pin allocation
3.1
Explanation of symbols
*
3.2
=
electronic input, logic ”1”
=
relaycoil 18V --- 30V
=
low active signal
=
power protection 500 mA
Connector pin allocation
electronic output
15V --- 30 V (approx. 6.5 mA at24 V)
= 15V --- 30V DC
load current for2 A output min.: 0.02 A max.: 2 A
= relaycontactmax. 500 mA / 30V make contact
500 mA / 30V = relaycontactmax. break contact
Interface signals X11 Interfacesignal
Pin
Description
Remarks
24 V control voltage
37 1 / 19
0 V internal +24 V internal, max. 500 mA
For supplying the safety circuit with internal power
Emergency Stop channels 1 and 2
2/3 20 / 21
Floating contacts of the Emergency Stop button on the KCP, 2--channel.
These contacts must be externally linked to the Emergency Stop relays.
Emergency Stop relay channels 1 and 2
4 22
Emergency Stop input, 2--channel
CAUTION J umpering the two channels with one another is not permitted.
Emergency Stop relay 0V
40
0 V connection of the Emergency Stop relays for connection to the internal or external supply voltage.
Ext. enabling channels 1 and 2
5/6 23 / 24
For connecting an external enabling switch to 2 floating contacts.
Safeguard channels 1 and 2
7/8 25 / 26
CAUTION For the 2--channel connection of the interlock of J umpering the two chanisolating safeguards. nels with one another is not permitted.
Ext. drives OFF
41 / 42
A floating contact (break If this input is not used, contact) can be conpins 41 / 42 must be nected to this input. The jumpered. drives are switched off when the contact is opened.
If no supplementary switch is connected, pins 5 and 6 as well as 23 and 24 must be jumpered. CAUTION J umpering the two channels with one another is not permitted.
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Connection / Start--up
Ext. drives ON
43 / 44
For connecting a floating Signal must not be percontact. Pulse ! 200 ms manently active. switches the drives on.
Emergency Stop contact channels 1 and 2
9 / 10 27 / 28
Floating contact of the Emergency Stop relays.
Contacts are closed if Emergency Stop is released.
Safety circuit channels 1 and 2
11 / 12 29 / 30
Floating contacts of the safety circuit
Is closed if the safeguard input is closed during automatic operation or if the enabling switch is pressed in the Test mode.
Test and Automatic mode groups
48 / 46 48 / 47
Floating contacts of the operating mode relays.
Test contact is closed if Test1 or Test2 is selected on the KCP. Automatic contact is closed if Automatic or External is selected.
Rapid gaging channels 1 to 4
13 / 14 / 31 / 32 / 49
Inputs are read by the DSEAT at the 125 s clock rate.
When a 0/1 or 1/0 edge is detected, the actual axis values are stored by the software.
Emergency Stop circuit, safeguard and ext. enabling switch are signals thatserve safety purposesand mustbeused in accordancewithDINEN 60204--1and EN 775.
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3
3.3
Connector pin allocation (continued)
Emergency Stop circuit The following examples show how the robot Emergency Stop circuit can be linked to other robots or with the periphery. X11 0V internal
37
24V internal
1 19 Emergency Stop channel 1 I
2
Emergency Stop channel 1 O
3
Emergency Stop channel 2 I
20
Emergency Stop channel 2 O
21
Em. Stop relaychannel 1
4
Em.S top relaychannel 2
22
Emergency Stop realy 0V
40
Emergency Stop circuit for one robot without periphery
X11 0V internal
37
24V internal
1 19 Emergency Stop channel 1 I Emergency Stop channel 1 O
2 3
Emergency Stop channel 2 I
20
Emergency Stop channel 2 O
21
Em. Stop relaychannel 1
4
Em. Stop relaychannel 2
22
Emergency Stop relay 0V
40
0V internal
37
24V internal
1 19 Emergency Stop channel 1 I
2
Emergency Stop channel 1 O
3
Emergency Stop channel 2 I
20
Emergency Stop channel 2 O
21
Em.S top relaychannel 1
4
Em.S top relaychannel 2
22
Emergency Stop relay 0V
40
Emergency Stop circuit for two robots without periphery
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Connection / Start--up
X11 0V internal
37
24V internal
1 19 Emergency Stop channel 1 I
2
Emergency Stop channel1 O
3
Emergency Stop channel 2 I
20
Emergency Stop channel 2 O
21
Em.S top relaychannel 1
4
Em.S top relaychannel 2
22
Emergency Stop relay 0V
40
Em. Stop button periphery Em. Stop-switching device
Em.S top periphery
Emergency Stop circuit for one robot with periphery
X11 24V external
0V internal
37
24V internal
1 19 Emergency Stop channel 1 I
2
Emergency Stop channel 1 O
3
Emergency Stop channel 2 I
20
Emergency Stop channel 2 O
21
Em.S top relaychannel 1
4
Em.S top relaychannel 2
22
Emergency Stop relay 0V
40
0V external Em. Stop button periphery Em. Stop switching device
Em. Stop periphery
Emergency Stop circuit with external voltage supply and with periphery
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3
3.4
Connector pin allocation (continued)
Supply connection X1, service socket X01
X1
Incoming supply 3x400V 50/60Hz 25A
1
L1
2
L2
only with transformer:
3
L3
3x380V 50/60Hz 25A
4
N
3x440V 50/60Hz 25A
PE
PE
3x415V 50/60Hz 25A
3x480V 50/60Hz 25A 3x500V 50/60Hz 25A
* N--conductor is only required for optional service socketon 400V mains
Fig. 3 Supply connection X1
X01 L1 N
PE
Service socket (Standard version with PE N conductor in the mains!) Supply voltage dependenton the mains used; max. load capacity 6A
Fig. 4 Service socket X01 (optional)
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Connection / Start--up
3.5
Motor connector X20, axes 1, 3 and 4 X20 a1 MotorA1 U1 a4 MotorA1 V1 a6 MotorA1 W1 a3 Brake A1 26V a5 Brake A1 0V
b1 MotorA3 U1 b4 MotorA3 V1 b6 MotorA3 W1 b3 Brake A3 26V b5 Brake A3 0V
c1 MotorA4 U c4 MotorA4 V c6 MotorA4 W c3 Brake A4 26V c5 Brake A4 0V
d1 MotorA1 U2 d4 MotorA1 V2 d4 MotorA1 W2
e1 MotorA3 U2 e4 MotorA3 V2 e6 MotorA3 W2
f1 n. c. f4 n. c. f6 n. c.
PE PE
Ground conductor 2.5 mm2 Ground conductor 6.0 mm2
Fig. 5 Motor connector X20
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3
3.6
Connector pin allocation (continued)
Motor connector X7, axes 2, 5 and 6 X7 a1 MotorA2 U1 a4 MotorA2 V1 a6 MotorA2 W1 a3 Brake A2 26V a5 Brake A2 0V
b1 MotorA5 U b4 MotorA5 V b6 MotorA5W b3 Brake A5 26V b5 Brake A5 0V
c1 MotorA6 U c4 MotorA6 V c6 MotorA6 W c3 Brake A6 26V c5 Brake A6 0V
d1 MotorA2 U2 d4 MotorA2 V2 d4 MotorA2 W2
PE PE
Groundconductor 2.5 mm2 Groundconductor 6.0 mm2
Fig. 6 Motor connector X7
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Connection / Start--up
3.7
Peripheral connector X11 (optional) 0V internal +24V internal
X11 37 600mA
1 19
EM.STOP KCP
600mA
2 3
600mA
20 21 4 22 40 5 6 23 24
t i u c r i c y t e f a S
7 8 25 26 41 42
N O t s i e u v c i r r i D c
43 44 600mA
9 10
600mA
27 28
600mA
11 12
600mA
29 30 46 47
600mA
48
0V internal +24V internal +24V internal EM. STOP channel 1 l EM. STOP channel 1 O EM. STOP channel 2 l EM. STOP channel 2 O EM. STOP relay channel 1 EM. STOP relay channel 2 EM. STOP relay0V Ext. enabling channel 1 l Ext. enabling channel 1 O Ext. enabling channel 2 l Ext. enabling channel 2 O Safeguardchannel 1 l Safeguardchannel 1 O Safeguardchannel 2 l Safeguardchannel 2 O Ext. drives OFF I Ext. drives OFF O Ext. drives ON I Ext. drives ON O EM. STOP contactchannel 1 l EM: STOP contactchannel 1 O EM. STOP contactchannel 2 l EM. STOP contactchannel 2 O Safetycircuitchannel 1 l Safetycircuitchannel 1 O Safetycircuitchannel 2 l Safetycircuitchannel 2 O Testmode group AUTO mode group COM mode group
Fig. 7 Peripheral connector X11, part 1
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3
Connector pin allocation (continued)
0V internal +24V internal
X11 13 e l u d o m o v r e S
14 31 32 49 15 16
3 1 X , 2 1 X o t r s s o n t o c i t e c n e n n o n c o l c a s n o s i o r t p C o
17 18 33 34 35 36 52 53 54 38 39 45 50 51 91 56 74 92 73 55
Rapid gaging channel 1 Rapid gaging channel 2 Rapid gaging channel 3 Rapid gaging channel 4 Rapid gaging 0V Cross connection 1 Cross connection 2 Cross connection 3 Cross connection 4 Cross connection 5 Cross connection 6 Cross connection 7 Cross connection 8 Cross connection 9 Cross connection 10 Cross connection 11 n. c. n. c. n. c. n. c. n. c. Output 17 (2A) Output 18 (2A) Output 19 (2A) Output 20 (2A) 0V output 17--20 +24V output17--20
Fig. 8 Peripheral connector X11, part 2
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Connection / Start--up 0V internal +24V internal
X11 93 58 76 94 59 77 95 60 75 57 61 79 97 62 80 98 63 81 96 78
Output 1 (100mA) Output 2 (100mA) Output 3 (100mA) Output 4 (100mA) Output 5 (100mA) Output 6 (100mA) Output 7 (100mA) Output 8 (100mA) 0V output1--8 +24V output 1--8 Output 9 (100mA) Output 10 (100mA) Output 11(100mA) Output 12 (100mA) Output 13 (100mA) Output 14 (100mA) Output 15 (100mA) Output 16 (100mA) 0V output 9--16 +24V output9--16
Fig. 9 Peripheral connector X11, part 3
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3
Connector pin allocation (continued)
0V internal +24V internal
X11 64 82 100 65 83 101 66 84 99 67 85 103 68 86 104 69 87 102 70 3 1 X , 2 1 X o t s r n o o t i t c c e e n n n n o c o l c a s n o s i o r t p C o
71 72 88 89 90 106 107 108 105
Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 0V input1--8 Input 9 Input 10 Input11 Input 12 Input 13 Input 14 Input 15 Input 16 0V input 9--16 Cross connection 12 Cross connection 13 Cross connection 14 Cross connection 15 Cross connection 16 Cross connection 17 Cross connection 18 Cross connection 19 Cross connection 20 n. c.
Fig. 10 Peripheral connector X11, part 4
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Connection / Start--up
3.8
Data cable connector X21
X21 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
R1 R2 Shield n. c. S1 S3 Shield n. c. S2 S4 Shield n. c. EMT Signal n. c. n. c. Shield MT1 MT2 R1 R2 Shield n. c. S1 S3 Shield n. c. S2 S4 Shield n. c. EMT Signal
Fig. 11 Data cable connector X21 / part 1 KRC1A_Anschluß07.99.1 en
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3
Connector pin allocation (continued)
X21 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62
n. c. n. c. Shield MT1 MT2 R1 R2 Shield n. c. S1 S3 Shield n. c. S2 S4 Shield n. c. Shield n. c. n. c. Shield MT1 MT2 R1 R2 Shield n. c. S1 S3 Shield n. c.
Fig. 12 Data cable connector X21 / part 2
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Connection / Start--up
X21 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93
S2 S4 Shield n. c. EMT Signal n. c. n. c Shield MT1 MT2 R1 R2 Shield n. c. S1 S3 Shield n. c. S2 S4 Shield n. c. EMT Signal n. c. n. c. Shield MT1 MT2 R1 R2 Shield
Fig. 13 Data cable connector X21 / part 3
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3
Connector pin allocation (continued)
X21 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 PE
n. c. S1 S3 Shield n. c. S2 S4 Shield n. c. Shield n. c. n. c. Shield MT1 MT2 Ground
Fig. 14 Data cable connector X21 / part 4
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Connection / Start--up
3.9
KCP connector X19
X19 1 Display screenKC P + 3 Display screen KCP --
2 CAN bus + 4 CAN bus -
1 TxD + 3 TxD 2 RxD + 4 RxD --
3 EM.STOP 2 OUT 4 EM.STOP 2IN 1 EM.STOP 1 OUT 2 EM.STOP 1IN 10 0V 11 24V 1 notassigned 2 Drives ON 3 Drives OFF 4 Mode AUTO 5 ModeTEST 6 Mode (GND) 8 Enabling channel 2 7 Enabling channel 1 9 Enabling (GND)
Fig. 15 KCP connector X19
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3
3.10
Connector pin allocation (continued)
J umpers for stand--alone operation X11
0V internal +24V internal
X11 37 1 EM.STOP KCP
19 2 3 20 21 4 22 40 5 6 23
t i u c r i c y t e f a S
24 7 8 25 26
d r a u g e f a S
41 N O t s i e u v c i r r i D c
42 43 44 9 10 27 28 11 12 29 30 46 47 48
Fig. 16 J umpers for stand--alone operation X11
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Connection / Start--up
4
Putting the control cabinet into operation
4.1
Operator control elements on the KUKA Control Panel The KUKA Control Panel (KCP) is used for teaching and operating the robot controller KR C1A. The keyboard and status data are transferred via a standard CAN bus to the PC. The display information is transferred serially via a separate high--speed interface. The KCP features an8--inch full--graphics color display (VGA resolution 640x480), a membrane keyboard, a 6D mouse and the control elements EMERGENCY STOP, Drives ON/ OFF, mode selector switch and enabling switches. It is also possible to connect anMF II keyboardto the KCP via a DIN connectoronthe back of the KCP. The Ethernet connection allows data to be archived on a PC.
. Mode selector switch
Drives ON/OFF
EMERGENCY STOP 6D mouse
Display
Membrane keyboard
Front view of KCP Cover of interface for MF II keyboard and Ethernet connection
Enabling switches
Enabling switches
Rear view of KCP
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4
Putting the control cabinet into operation (continued)
The Windows environment guides the user through all the necessary procedures: G
Start--up of the robot controller
G
Programming
G
Program test and correction
G
Programcontrol (start, stop)
G
Visualization and diagnostics during production
The following displays are possible on thescreen:
4.2
G
Application programs, program status
G
Interrupt, override
G
Programdisplay, motion display
G
Actual value display, following error display
G
Online correction, mastering display
G
Robot position, traversing mode
G
Interface signals, messages
G
Logbook
G
Help display
Switching on the control cabinet Before switching on the controller, make sure that nobody is present within the workingrangeoftherobot.Themushroom--headEMERGENCY STOPbuttononthe KCP should bepressed.
After you have correctly installed and connected your robot system, you can start it up for the first time. Turnonthemainswitchofyourcontrolcabinet. Thecomputerintegratedintothecontrolcabinet begins to load the programs and data required for operation fromthe harddisk. Youcan followtherun--up phase ofthe controller onthe KCP display. The run--up phase is concluded after approximately 3 minutes and the main menu of the KR C1 A controller is displayed. As the EMERGENCY STOP buttonis pressed atthis stage (and the EMERGENCY STOP circuits of the periphery may not have been wired up yet), the robot cannot yet be moved. Appropriate messages are displayed on the KCP to informyou of this.
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Connection / Start--up
To prepare your systemfor production, youmust wire up the EMERGENCY STOP circuits, master the robot axes and calibrate the tool that is fitted. The relevant information can be found in the following documentation: Operating Handbook, Control Cabinet (this documentation)
Wiring up the EMERGENCY STOP circuits -- [Connection/Start--up] Operating Handbook, Start--up
Mastering the robot axes -- [Robot Mastering/Unmastering] Calibrating the tool -- [Tool Calibration]
4.3
Online documentation If your documentation is available onCD--ROM, you canhave this displayed on the KCP or on a suitably equipped PC and printed out. The booklet(Safety andInstallation Instructions) accompanying the CD--ROM explains how to access the documentation on your CD--ROM.
4.4
Switching off the control cabinet To switch off, turn the main switch on the control cabinet to the “OFF” position. Shutdown of the control computer as with Windows 95 is not necessary.
1
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Index
Symbols #PGNO_ACKN, 10 #PGNO_ FAULT, 11 $CONFIG.DAT, 26 $EXT_START, 7, 21 $EXT_START$IN[ ], 27 $I_O_ACTCONF, 7 $I_O_ACTCONF $OUT[ ], 27 $MACHINE.DAT, 27 $POS_ RET, 14, 17 $PRO_I_O[], 7 $STOPMESS $OUT[ ], 27
A
M Motion enable, 24 MOVE_ENABLE, 14
N NEAR_POSRET, 17
O ON_PATH, 17 Operator safety, 22
P ALARM_STOP, 16 APPL_RUN, 16 APPL_RUN , 26 AUT, 16
P00 module, 10 PERI_RDY, 16 PGNO, 19, 26 PGNO_ERROR, 19, 26 PGNO_FBIT, 13, 26 PGNO_LENGTH, 13, 26 PGNO_PARITY, 13, 26 PGNO_REQ, 10, 16, 26 PGNO_TYPE, 13, 26 PGNO_VALID, 14, 20 PRO_ACT, 18 Programnumber acknowledgement, 20
C CELL.SRC, 7, 19 CONF_MESS, 15 Configuration example, 27
D DRIVES_OFF, 15 DRIVES_ON, 15 Dynamic braking, 22
R Restart, 22
E EMERGENCY STOP, 23 ERR_FILE, 12 ERR_TO_PLC, 18 EXT_ERR, 12 EXT_PGNO, 10, 11 EXT_PGNO.SRC, 19 EXT_START, 14 EXTERN, 16
S SPS.SUB, 7 STOPMESS, 16
T T1, 16 T2, 16
I I/O, 5 I/O interface, 7 IN_HOME, 18
U User STOP, 25 USER_SAF, 16
Index -- i