KR C2 edition2005 - KUKA Robotics

Indholdsfortegnelse
Stand: 06.10.2010 Version: Spez KR C2 ed05 V5 da
Indholdsfortegnelse
1 Produktbeskrivelse ..................................................................................... 7
1.1 Oversigt over industrirobotten .................................................................................... 7
1.2 Oversigt over robotstyringen ...................................................................................... 7
1.3 Beskrivelse styrings-PC ............................................................................................. 8
1.3.1 Styrings-PC-grænseflader .................................................................................... 9
1.3.2 Anvendelsesmuligheder for PCI-slots ................................................................... 10
1.4 Beskrivelse af KUKA Control Panel (KCP) ................................................................ 11
1.4.1 Forside .................................................................................................................. 11
1.4.2 Bagside ................................................................................................................. 12
1.5 Sikkerhedslogik Electronic Safety Circuit (ESC) ........................................................ 12
1.5.1 Oversigt CI3-boards .............................................................................................. 14
1.6 Beskrivelse af effektafgivende del ............................................................................. 14
1.7 Beskrivelse grænseflader .......................................................................................... 15
1.7.1 Nettilslutning X1/XS1 ............................................................................................ 16
1.7.2 KCP stik X19 ......................................................................................................... 18
1.7.3 Motorstik X20 akse 1 til 6 ...................................................................................... 19
1.7.4 Motorstik X7 (option) ............................................................................................. 20
1.7.5 Dataledning X21 akse 1 - 8 .................................................................................. 21
1.8 Beskrivelse kunde-indbygningsrum (option) .............................................................. 21
2 Tekniske data ............................................................................................... 23
2.1 Robotstyring ............................................................................................................... 23
2.2 Mål robotstyring ......................................................................................................... 25
2.3 Mindsteafstande robotstyring ..................................................................................... 26
2.4 Mindsteafstande påsats- og teknologiskab ................................................................ 27
2.5 Boremål for fastgørelse på gulv ................................................................................. 27
2.6 Svingområde skabsdør .............................................................................................. 28
3 Sikkerhed ..................................................................................................... 29
3.1 Generel ...................................................................................................................... 29
3.1.1 Ansvar ................................................................................................................... 29
3.1.2 Korrekt brug af industrirobotten ............................................................................ 29
3.1.3 EF-overensstemmelseserklæring og inkorporeringserklæring ............................. 30
3.1.4 Anvendte begreber ............................................................................................... 30
3.2 Personale ................................................................................................................... 31
3.3 Arbejds-, beskyttelses- og fareområde ...................................................................... 32
3.4 Udløser af stop-reaktioner ......................................................................................... 33
3.5 Sikkerhedsfunktioner ................................................................................................. 34
3.5.1 Oversigt over sikkerhedsfunktioner ...................................................................... 34
3.5.2 Sikkerhedslogik ESC ............................................................................................ 34
3.5.3 Driftsmådekontakt ................................................................................................. 35
3.5.4 Operatørbeskyttelse ............................................................................................. 36
3.5.5 NØDSTOP-anordning ........................................................................................... 36
3.5.6 Ekstern NØDSTOP-anordning .............................................................................. 37
3.5.7 Frigivelsesanordning ............................................................................................. 37
3.5.8 Eksterne frigivelsesanordninger ........................................................................... 38
3.6 Yderligere beskyttelsesudstyr .................................................................................... 38
3 / 91