TmpF614.tmp KR C4 Compact Operating Instructions En

• KR C4 compact
  • 1 Introduction
    • 1.1 Industrial robot documentation
    • 1.2 Representation of warnings and notes
    • 1.3 Trademarks
    • 1.4 Terms used
  • 2 Purpose
    • 2.1 Target group
    • 2.2 Intended use
  • 3 Product description
    • 3.1 Description of the industrial robot
    • 3.2 Overview of the KR C4 compact robot controller
    • 3.3 Control box
      • 3.3.1 Control PC
      • 3.3.2 Cabinet Control Unit, Small Robot
      • 3.3.3 Low-voltage power supply unit
      • 3.3.4 Batteries
      • 3.3.5 Mains filter
    • 3.4 Drive box (Drive Configuration (DC))
    • 3.5 Description of interfaces
      • 3.5.1 Control PC interfaces
        • 3.5.1.1 Motherboard D3076-K PC interfaces
        • 3.5.1.2 Motherboard D3236-K PC interfaces
    • 3.6 Cooling
  • 4 Technical data
    • 4.1 Dimensions
    • 4.2 Cabinet Interface Board, Small Robot
    • 4.3 Dimensions of the smartPAD holder (optional)
    • 4.4 Dimensions of handle brackets
    • 4.5 Plates and labels
  • 5 Safety
    • 5.1 General
      • 5.1.1 Liability
      • 5.1.2 Intended use of the industrial robot
      • 5.1.3 EC declaration of conformity and declaration of incorporation
      • 5.1.4 Terms used
    • 5.2 Personnel
    • 5.3 Workspace, safety zone and danger zone
    • 5.4 Triggers for stop reactions
    • 5.5 Safety functions
      • 5.5.1 Overview of the safety functions
      • 5.5.2 Safety controller
      • 5.5.3 Mode selection
      • 5.5.4 “Operator safety” signal
      • 5.5.5 EMERGENCY STOP device
      • 5.5.6 Logging off from the higher-level safety controller
      • 5.5.7 External EMERGENCY STOP device
      • 5.5.8 Enabling device
      • 5.5.9 External enabling device
      • 5.5.10 External safe operational stop
      • 5.5.11 External safety stop 1 and external safety stop 2
      • 5.5.12 Velocity monitoring in T1
    • 5.6 Additional protective equipment
      • 5.6.1 Jog mode
      • 5.6.2 Software limit switches
      • 5.6.3 Mechanical end stops
      • 5.6.4 Mechanical axis range limitation (optional)
      • 5.6.5 Axis range monitoring (optional)
      • 5.6.6 Options for moving the manipulator without drive energy
      • 5.6.7 Labeling on the industrial robot
      • 5.6.8 External safeguards
    • 5.7 Overview of operating modes and safety functions
    • 5.8 Safety measures
      • 5.8.1 General safety measures
      • 5.8.2 Transportation
      • 5.8.3 Start-up and recommissioning
        • 5.8.3.1 Checking machine data and safety configuration
        • 5.8.3.2 Start-up mode
      • 5.8.4 Manual mode
      • 5.8.5 Simulation
      • 5.8.6 Automatic mode
      • 5.8.7 Maintenance and repair
      • 5.8.8 Decommissioning, storage and disposal
      • 5.8.9 Safety measures for “single point of control”
    • 5.9 Applied norms and regulations
  • 6 Planning
    • 6.1 Overview of planning
    • 6.2 Electromagnetic compatibility (EMC)
    • 6.3 Installation conditions
    • 6.4 Connection conditions
    • 6.5 Power supply connection
    • 6.6 Safety interface X11
      • 6.6.1 Safety interface X11
      • 6.6.2 Wiring example for E-STOP circuit and safeguard
      • 6.6.3 Wiring example for safe inputs and outputs
    • 6.7 Safety functions via Ethernet safety interface (optional)
      • 6.7.1 Schematic circuit diagram for enabling switches
      • 6.7.2 SafeOperation via Ethernet safety interface (optional)
      • 6.7.3 Ethernet interface (1xRJ45) X66
    • 6.8 Mastering test
    • 6.9 EtherCAT interface X65
    • 6.10 Service Interface X69
    • 6.11 PE equipotential bonding
    • 6.12 Performance level
      • 6.12.1 PFH values of the safety functions
  • 7 Transportation
    • 7.1 Transporting the robot controller
  • 8 Start-up and recommissioning
    • 8.1 Start-up overview
    • 8.2 Installing the robot controller
    • 8.3 Connecting the connecting cables
    • 8.4 Plugging in the KUKA smartPAD
    • 8.5 Connecting the PE equipotential bonding
    • 8.6 Connecting the robot controller to the power supply
    • 8.7 Reversing the battery discharge protection measures
    • 8.8 Configuring and connecting connector X11
    • 8.9 Switching on the robot controller
  • 9 Operation
    • 9.1 KUKA smartPAD teach pendant
      • 9.1.1 Front view
      • 9.1.2 Rear view
  • 10 Maintenance
    • 10.1 Maintenance symbols
    • 10.2 Checking CCU_SR relay outputs
    • 10.3 Cleaning the robot controller
  • 11 Repair
    • 11.1 Repair and procurement of spare parts
    • 11.2 Opening the housing cover
    • 11.3 Removing the control box from the drive box
    • 11.4 Exchanging the motherboard
    • 11.5 Exchanging the motherboard battery
    • 11.6 Exchanging DIMM memory modules
    • 11.7 Exchanging the hard drive
    • 11.8 Exchanging the Cabinet Control Unit, Small Robot
    • 11.9 Exchanging the batteries
    • 11.10 Exchanging the Dual GbE network card
    • 11.11 Exchanging the low-voltage power supply unit
    • 11.12 Exchanging the control box fans
    • 11.13 Exchanging the drive box fans
    • 11.14 Exchanging the KPP_SR
    • 11.15 Exchanging the KSP_SR
    • 11.16 Installing the KUKA System Software (KSS)
  • 12 Troubleshooting
    • 12.1 LED display on Cabinet Control Unit, Small Robot
    • 12.2 Fuses on the Cabinet Control Unit, Small Robot
  • 13 Decommissioning, storage and disposal
    • 13.1 Decommissioning
    • 13.2 Storage
    • 13.3 Disposal
  • 14 KUKA Service
    • 14.1 Requesting support
    • 14.2 KUKA Customer Support
  • Index