KR C2 sr - KUKA Robotics

KR C2 srStep Description InformationSoftware13 Check the safety equipment. Detailed information is containedin the operating instructions for therobot controller, in the chapter“Safety”.14 Configure the inputs/outputs between the robotcontroller and the periphery.Detailed information can be foundin the field bus documentation.Step Description Information15 Check the machine data. Detailed information is contained16 Mount the tool.in the operating and programminginstructions17 Check the software limit switches and adaptthem if required.18 Calibrate the tool.In the case of a fixed tool: calibrate externalTCP.19 Enter the load data.20 Calibrate the base (optional).In the case of a fixed tool: calibrate workpiece(optional).21 If the robot is to be controlled from a host computeror PLC: configure Automatic Externalinterface.Detailed information is containedin the Operating and ProgrammingInstructions for System Integrators.Long text names of inputs/outputs, flags, etc., can be saved in a textfile and imported after a reinstallation. In this way, the long texts donot need to be re-entered manually for each manipulator. Furthermore,the long text names can be updated in application programs.6.2 Installing the robot controllerProcedure 1. Install the robot controller horizontally. The minimum clearances to walls,other controllers, etc. must be observed. (>>> 4.1 "Installation conditions"Page 41)2. Check the robot controller for any damage caused during transportation.3. Check that components are fitted securely.4. Secure any modules that have come loose.6.3 Connecting the connecting cablesOverviewA cable set is supplied with the robot system. The basic version consists of:• Motor/data cable• Wrist I/O cable (optional)The following cables may be provided for additional applications:• Peripheral cables58 / 73 Issued: 21.12.2011 Version: Spez KR C2 sr V4 en