KUKA 机器人入门操作

Start-up Lab Procedure

Introduction

The KUKA KR16 robot is designed to perform well in any manufacturing task, from Welding to Palletizing to Machine Tending. It’s unique Windows PC-based controller allows for very powerful customization for the end user’s particular application.

The KUKA robot is equipped with resolver technology for speed and position feedback. This means that when the system is powered up it doesn’t need to be referenced or homed in order to know where it is. However, A B lock CO incidence (BCO) move is always needed to align the physical arm with the first programmed point in a program.

Safety Equipment

The Robotics facility is protected by various safety devices such as Light Curtains, Emergency Stop switches, and door switches. In order to operate a robot system, the proper safety conditions must be met.

Students are not permitted to enter the guarded cage at any time. If there is any reason to enter the cage an Instructor or Lab Supervisor must be the one to do it. Whenever the cage door opens all robots are automatically disabled. The cage door must be fully closed and the reset button must be pressed before any of the robots can be re-activated. Each robot work area is protected by a Light Curtain. If any object or part of the body enters the work area, the robot is disabled. Once the safety circuit has been tripped it must be reset before the robot can be re-started. The reset button lights up when the circuit is tripped and the light goes out when the circuit has been successfully reset.

Start-up Lab Procedure

Human-Machine Interface

The Kuka Control Panel (KCP2) handheld controller has many “Soft Keys” or “Programmable Keys”. These are buttons that are positioned around the display screen. The current function of each button is displayed on the screen and changes dynamically to suit the needs of the operation. The paragraphs below describe the physical layout of the KCP; refer to the screen shot of the display itself for an example of the types of function that could be shown on the screen.

The top row keys are referred to as Menu Keys. They are used to open menus, while the Arrow keys and Enter key (lower right) are used to navigate through the menus.

The keys on the left and right sides of the screen are Status Keys. They are used for selecting operating options, switching individual functions and setting values. Their current function is displayed on the screen.

Start-up Lab Procedure

The keys at the bottom of the screen are called Softkeys. They are used for a wide range of functions and operations.

When selecting any key or function it may result in the display of a “popup” message window or menu window. The Escape key (yellow - top left) will usually close these windows. Use the Cursor arrow keys to select menu items and the Enter key to register your choice. Pressing Enter will sometimes complete an operation and sometime it will open a new menu window for further choices.

The Window Selection key (blue – top left) is used to move the focus from one open window to the next. Usually the Softkeys and status keys will have different functions in different windows.

Finally, there is a full QWERTY keyboard and Numeric keypad along the bottom of the handheld unit.

Procedure to Turn On

Turn On

1.

Turn on the external computer (on top of the control cabinet.)

2. Release three Emergency Stop buttons

(one on the Robot Controller front panel,

one on the Teach Pendant, and one on the

Safety circuit control panel.) by turning

them and allowing them to pop out.

3. Turn main power switch on

4. The Windows Operating System will start.

Even after the Display is on, wait for the

Message: “DSE – Boot Finished” to show

in the message window.

5. Press the bottom row Softkey “Ackn. All”

6. If there is a message that says “External

Emergency Stop Pressed”, then reset the Safety Circuit (light curtain reset). 7.

If there is a message that says

“EMERGENCY STOP”, then reset the E-STOP buttons on the KRC2 controller or the KCP2 teach pendant (make sure they’re

popped out).

8. Press the bottom row Softkey “Ackn. All”

If the message window is not focused and

this Softkey is not available, press the Page

Key (blue) to select the message window

before “Ackn. All”.