成果德國kuka機(jī)器人

1、CommissioningCheck control cabinet and robot for any damage that may have occured during transportationInstall control cabinet / robotCheck all cables / connectorsFirst run-up of the controllerCarry out masteringCheck serial number of control cabinet / robotTransportation of control cabinet / robotS

2、ave system data to floppy diskReboot the controller (check the backup function / saving of mastering data)Check serial number of control cabinet / robotSerial number robotSerial number control cabinetTransport robotDo always observe the transport position of the specific robot type! Transport contro

3、l cabinetThe control cabinet always has to be stored, transported and installed in an upright position!Installation of robotCheck the robot for any visible damage. Check the connectors and cables of the drives unit for damages. If there is / are damages do immediately eliminate those!Install the rob

4、ot using a fork lift truck, pallet truck or crane on the prepared mounting base and fasten it correctly.Make sure that you do not come within the working range of other machines during installation. If necessary, the machines in the areas concerned must be switched off or suitable safety fencing mus

5、t be erected!The requirements to be met by the robots mounting base and installation variants depend on the type of robot concerned. Please therefore also consult the Technical Data of your robot system.Methods of installing the robotThere are several possible methods of installing the robot:Variant

6、 1:Available as the “floor mounting kit” accessory including the necessary dowels and a drilling pattern. The robot is placed onto the prepared shop floor without intermediate plates and fastened by means of eight dowel bolts.Variant 2:Available as the “framemounting kit” accessory with locating pin

7、s and suitable bolts.The robot is placed onto a prepared steel construction. The robot is fixed in position bytwo locating pins in such a way that it can easily and repeatedly be replaced. The robotis then fastened to the steel construction by means of eight bolts.Variant 3:Available as the “mountin

8、g base kit” accessory with intermediate plates, locating pins, suitable dowels and bolts.The robot is mounted together with four intermediate plates on the prepared shop floor. The robot is fixed in position by two locating pins in such a way that it can easily and repeatedly be replaced. The robot

9、is fastened to the intermediate plates with eight bolts. Each of the intermediate plates is fastened to the shop floor with four dowel bolts before the robot is mounted to them.Installation of control cabinetPlease bear in mind that when walking on synthetic surfaces or carpeting an electrostatic bo

10、dy charge of up to several thousand volts can be generated. High voltage discharges can cause damage to electronic equipment!Take particular care that the cabinet and its supply lines can be neither mechanically damaged nor fouled with oil or other substances at the site of installation.It is impera

11、tive to comply with the minimum clearances of the control cabinet from walls, other cabinets and the like. The appropriate minimum clearances may be noted from the Technical Data of the cabinet concerned.Check the control cabinet for any damage that may have occurred during transportation. Check tha

12、t fuses, contactors and boards are fitted securely. Repair any damage.Assemblies which have e loose during transportation may result in malfunctions or damage to the system!Connecting the cablesNever connect a robot system or put it into operation if you have not convinced yourself of its correct co

13、ndition or if any faults, damage, etc. have been discovered in the visual inspection.All pertinent safety regulations as well as the booklet Safety and Installation Instructions are to be observed when performing any of the work described below.Connector panel of KR C2edition2005CommissioningAfter t

14、he robot system has been correctly installed and connected, it can be put into operation for the first time.Make sure that nobody is present within the working range of the robot!The control cabinet may not be put into operation until the internal temperature of the cabinet has adjusted to the ambie

15、nt temperature, otherwise condensation could cause damage to electrical components.To avoid discharge of the accus through the KPS resistor before installation of the control cabinet, circuit breaker FG3 is released. You have to switch on the fuse before commissioning the system!Start upCheck Machin

16、e DataDo the actual MaDa accord to the robot type?Potentially enter the robot serial numberEnter Serial number in menue Setup“ Check E-STOP function / enabling switchCheck of all safety installations (E-STOP, Safety gate, etc.)Safety relevant operating elements on KCP (E-STOP, enabling switch, drive

17、s on/off, OP mode)Check of the external safety components (external E-STOP, E-STOP of higher level PLC, etc.)Check operation of KCPCheck of operating panel / keysAdjustment of brightness and contrast of the displayCheck direction of rotation of the fansIMPORTANT: only this way the cooling of the con

18、trol cabinet works as requiredTools: a piece of paper, rotating field meter Check BIOS settingsAutomatic detection of hard disk driveBoot sequenceDate, time, etc.Axis specific movement of all axisThus one can check the right parametrization of the controller Identification of the proper wiring of dr

19、ives and encoder connectors Mastering of the robotA1=0A2=-90A3=+90A4, A5, A6=0When the robot is mastered, the axes are moved into a defined mechanical position, the so-called mechanical zero position.Once the robot is in this mechanical zero position, the absolute encoder value for each axis is save

20、d.Mastering equipmentElectronic measuring tool (EMT)Dial gaugeIn order to move the robot exactly to the mechanical zero position, a dial gauge or electronic measuring tool (EMT) is used.In EMT mastering, the axis is automatically moved by the robot controller to the mechanical zero position. If a di

21、al gauge is being used, this must be carried out in axis-specific jog mode.Cross-section of the gauge cartridgeEMTordial gauge“Frontsight/rearsight” markerReference notchGauge pinGauge cartridgeSchematic representation of the mastering runEMTordial gaugeMotion direction+-Mechanical zero positionEMTo

22、rdial gaugeMotion direction+-Pre-mastering position“Frontsight/rearsight” markerReasons for masteringThe robot is to be mastered.Mastering is canceled. after repairs (e.g. replacement of a drive motor or RDC). automatically on booting the system1). when the robot has been moved without the controlle

23、r (e.g. with hand crank). automatically on booting the system1). after an impact with a mechanical end stop at more than jog velocity (25 cm/s). manually by the operator. after a collision involving the tool or robot. manually by the operator 1)If discrepancies are detected between the resolver data

24、 saved when shutting down the controller and the current position, all mastering data are deleted for safety reasons.The robot can be unmastered.Mastering is canceled. if the mastering values for the individual axes are to be specifically deleted. manually by the operatorMastering with the EMTMaster

25、ing Loss / CheckCheck masteringMaster load with offsetMaster loadwithout offset1) Set masteringTeach offsetFirst masteringMastering with EMT1) Only possible if the first mastering is still valid (i.e. no change to the drive train, e.g. replacement of a motor or parts, or following a collision, etc.)CommissioningPreparation for EMT mastering!OKMove axes to pre-mastering position (frontsight and rearsight aligned)Jog axes in axis-specific modeEach axis is master