Operating and programming instructions for the KUKA System Software. ▫ and versions. Adds a selected file to the current file type or removes it. Fig. KUKA System Software Operating & Programming Instructions for System Integrators. Views: Continue with reading or go to download page. System Software – Ebook download as PDF File .pdf), Text File .txt) or read book online. Kuka system softeare Overview of KUKA System Software ( KSS). File list List of the files to be monitored in the current file type. Symbolic .
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Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity.
The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition. Subject to technical alterations without an effect on the function. Teach offset with SEMD Check load mastering with offset with SEMD First mastering with MEMD Teach offset with MEMD Check load mastering with offset with MEMD Entering the external TCP numerically Calibrating the linear unit Entering filetyle linear unit numerically Entering the root point numerically Iuka the workpiece base numerically Calibrating filehype external tool Entering the external tool numerically Response in the case of weave motions Switching from backwards to forwards Orientation behavior — example: Inline form for CP spline segment Programming an SPTP segment Inline form for SPTP segment Teaching the shift in space for logic parameters Programming an fieltype SPTP motion Making variables, constants, signals and user data types available globally.
Reference point for homogenous approximate positioning Reference point for mixed approximate positioning spline Example of a double operation Information about the training program can be found at www.
These warnings mean that sywtem is certain or highly probable that death or severe injuries will occur, if no precautions are taken. These warnings mean that death or severe injuries may occur, if no precautions are taken.
These warnings mean that minor injuries may occur, if no precautions are taken. These warnings mean that damage to property may occur, if no precautions are taken. These warnings contain references to safety-relevant information or general safety measures. These warnings do not filehype to individual hazards or individual precautionary measures.
Software | KUKA AG
This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions: Procedures marked with this warning must be followed exactly. Hints These notices serve to make your work easier or contain references to further information.
WordPad is a trademark of Microsoft Corporation. Example of an industrial robot 2. Additional technology packages, containing application-specific instructions and configurations, can be installed. Each version of the KUKA System Software may be operated exclusively in accordance with the specified system ststem. Misuse Any use or application deviating from the intended use is deemed to be misuse and is not allowed. The risk lies systwm with the user.
Examples of such misuse include: Recovery USB stick 2. Components of the industrial robot: Nevertheless, misuse of the industrial robot may constitute a risk to life and limb or cause damage to the industrial robot and to other material property. The industrial robot may sooftware be used in perfect technical condition in accordance with its designated use and only by safety-conscious persons who are fully aware of the risks involved in its operation.
Use of the industrial robot is systme to compliance with this document and with the declaration of incorporation supplied together with the industrial robot.
Any functional disorders affecting safety must be rectified immediately. Even if all safety instructions are followed, this is not a guarantee that the industrial robot will not cause personal injuries or material damage. Additional components tools, software, etc. The user is liable for any damage these components may cause to the industrial robot or to other material property.
In addition to the Safety chapter, this document contains further safety instructions. These must also be observed. Any use or application deviating from the intended use is deemed to be misuse and is not allowed.
The manufacturer is not liable for any damage resulting from such misuse. Operation of the industrial robot in accordance with its intended use also requires compliance with the operating and assembly instructions for the individual components, with particular reference to the maintenance specifications.
The industrial robot may only be put into operation if the following preconditions are met: The industrial robot, together with other machinery, constitutes a complete system. All safety functions and safeguards required for operation in the complete machine as defined by the EC Machinery Directive have been added to the industrial robot. This has been confirmed by means of an assessment of conformity.
The system integrator must issue a declaration of conformity for the complete system in accordance with the Machinery Directive. The declaration of conformity forms the basis for the CE mark for the system. The industrial robot must always be operated in accordance with the applicable national laws, regulations and standards. The assembly instructions and a list of essential requirements complied with in accordance with Annex I are integral parts of this declaration kuuka incorporation.
Filetypf declaration of incorporation declares that the start-up of the partly completed machinery is not allowed until the partly fileetype machinery has been incorporated into machinery, fieltype has been assembled with other parts to form machinery, and this machinery complies with the terms of the EC Machinery Directive, and the EC declaration of conformity is present in accordance with Annex II A. Term Description Axis range Range of each axis, in degrees or millimeters, within which it may move.
The axis range must be defined for each axis. The workspace is derived from the individual axis ranges. Danger zone The danger zone consists of the workspace and the stopping distances of the manipulator and external axes optional. Service life The service life of a safety-relevant component begins at the time of delivery of the component to the customer.
The service life is not affected by whether the component is used or not, as safety-relevant components are also subject to aging during storage. Safe operational stop The safe operational stop is a standstill monitoring function.
It does not stop the robot motion, but monitors whether the robot axes are stationary. If these are moved during the safe operational stop, a safety stop STOP 0 is triggered. The safe operational stop can also be triggered externally.
KUKA System Software |
When a safe operational stop is triggered, the robot controller sets an output to the field bus. The output is set even if not all the axes were stationary at the time of triggering, thereby causing a safety stop STOP 0 to be triggered.
The kka controller immediately switches off the drives and the power supply to the brakes. This stop is called safety STOP 0 in this document.
KUKA System Software 5.5 Operating & Programming Instructions for System Integrators
The braking process is performed by the non-safety-oriented part of the robot controller and monitored by the safety controller. Kukaa soon as the manipulator is at a standstill, the safety controller switches off the drives and the syystem supply to the brakes. When a safety STOP 1 is triggered, the robot controller sets an output to the field bus.
The safety STOP 1 can also be triggered externally. This stop is called safety STOP 1 in this document.
The drives remain activated and the brakes released. As soon as the manipulator is at a standstill, a safe operational stop is triggered. When a safety STOP 2 is triggered, the robot controller sets an output to the field bus. The safety STOP 2 can also be triggered externally.
This stop is called safety STOP 2 in this document. Safety options Generic term for options which make it possible to configure additional safe monitoring functions in addition to the standard safety functions. The manipulator and any external axes optional perform path-oriented braking.
This stop category is called STOP 0 in this document. Stop category 1 The manipulator and any external axes optional perform path-maintaining braking. The drives are deactivated as soon as the robot has stopped, but no later than after ms.