KR C2 sr - KUKA Robotics

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KR C2 sr68 / 73 Issued: 21.12.2011 Version: Spez KR C2 sr V4 en
IndexIndexNumbers19" rack 412004/108/EC 392006/42/EC 3989/336/EEC 3995/16/EC 3997/23/EC 39AAccessories 5, 21Applied norms and regulations 39Arrow keys 10AUT 27AUT EXT 28Automatic 27Automatic External 28Automatic mode 37Axis range 23BBasic data 17Brake defect 32Braking distance 23CCategory 3 15CE mark 22Circuit example X12 51Circuits, safety-oriented 15Cleaning work 37Connecting cables 5, 21Connecting cables, connecting 58Connecting the KCP 59Connecting the power supply 59Connection conditions 42Connection panel 5Connector pin allocation X11 46Connector pin allocation X12 49Connector pin allocation X31 14Connector pin allocation X32 52Connector X12, mini I/O, configuration 59Connector X32, wrist I/O, configuration 60Control PC 5, 6Conveyor 14DDanger zone 23Declaration of conformity 22Declaration of incorporation 21, 22Decommissioning 38Dimensions 18Disposal 38Drives OFF 10, 27Drives ON 10, 27EEC declaration of conformity 22EMC Directive 22, 39EMERGENCY STOP 10, 25EMERGENCY STOP button 26, 27, 29, 35EMERGENCY STOP circuit 43EMERGENCY STOP device 29, 32EMERGENCY STOP, external 26, 27, 29, 35EMERGENCY STOP, local 26, 27, 35EN 60204-1 40EN 61000-6-2 39EN 61000-6-4 40EN 614-1 39EN 954-1 15, 39EN ISO 10218-1 39EN ISO 12100-1 39EN ISO 12100-2 39EN ISO 13850 39Enabling device 27, 30, 32Enabling switch 11Enabling switches 30Enter key 10Environmental conditions 17ESC 26ESC key 10ESC power supply 46External axes 21, 23FFans 8Fast Measurement 14Faults 33Firewall 35Function test 34GGeneral safety measures 32Guard interlock 28HHazardous substances 38IIdentification plate 11Industrial robot 21Industrial robot, overview 5Installation conditions 41Installing the robot controller 58Intended use 21Interface X11 45Interface X31 14Interfaces 13Internal power supply X12 49IPM board 8JJog mode 30, 32KKCP 23, 33KCP cable 13Issued: 21.12.2011 Version: Spez KR C2 sr V4 en69 / 73
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ControllerKUKA Roboter GmbHKR C2 sr
Page 3 and 4:
ContentsContents1 Product descripti
Page 5 and 6:
1 Product description1 Product desc
Page 7 and 8:
1 Product descriptionFig. 1-3: Over
Page 9 and 10:
1 Product descriptionFig. 1-5: KR C
Page 11 and 12:
1 Product description1.5.2 Rear vie
Page 13 and 14:
1 Product description1.7 Descriptio
Page 15 and 16:
1 Product descriptionConnector pina
Page 17 and 18: 2 Technical data2 Technical dataBas
Page 19 and 20: 2 Technical dataFixing bracketFig.
Page 21 and 22: 3 Safety3 Safety3.1 General3.1.1 Li
Page 23 and 24: 3 Safety3.1.4 Terms usedTermAxis ra
Page 25 and 26: 3 SafetyWork on the electrical and
Page 27 and 28: 3 SafetyThe ESC safety logic trigge
Page 29 and 30: 3 Safety3.5.5 EMERGENCY STOP device
Page 31 and 32: 3 SafetyIf the enabling switch is r
Page 33: 3 SafetyWarning!The motors reach te
Page 36 and 37: KR C2 sr3.8.5 Manual modeManual mod
Page 38 and 39: KR C2 srHazardoussubstancesThe foll
Page 40 and 41: KR C2 srName Definition EditionEN 6
Page 42 and 43: KR C2 srDimensionsFig. 4-2: Dimensi
Page 44 and 45: KR C2 srExampleFig. 4-4: Robot with
Page 46 and 47: KR C2 srConnector pinallocationFig.
Page 48 and 49: KR C2 srIn the cabling for the outp
Page 50 and 51: KR C2 srFig. 4-8: X12 jumpers In th
Page 52 and 53: KR C2 sr4.7 Configuring wrist I/O X
Page 54 and 55: KR C2 sr• the number of switching
Page 56 and 57: KR C2 sr56 / 73 Issued: 21.12.2011
Page 58 and 59: KR C2 srStep Description Informatio
Page 60 and 61: KR C2 sr6.9 Configuring and connect
Page 62 and 63: KR C2 srBrazilKUKA Roboter do Brasi
Page 64 and 65: KR C2 srMexicoKUKA de Mexico S. de
Page 66 and 67: KR C2 srTaiwanKUKA Robot Automation
Page 70 and 71: KR C2 srKCP coupler 11KCP coupler,
Page 72 and 73: KR C2 sr72 / 73 Issued: 21.12.2011
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