KUKA机器人5.5系统编程手册

需积分: 10 115 浏览量更新于2024-07-16 收藏 15.3MB PDF 举报

"这是一本KUKA机器人的编程手册，主要针对系统集成商，涵盖了KUKA机器人控制器系统KRC2的相关知识。手册基于KUKA System Software 5.5，详细介绍了操作和编程指令。内容可能包含高级KRL编程技巧和系统软件的使用方法。" 在KUKA机器人编程手册中，用户可以了解到以下关键知识点： 1. **KUKA机器人控制器系统KRC2**：KRC2是KUKA机器人控制器的一种，是机器人操作和控制的核心。它包含了硬件和软件组件，用于处理机器人的运动控制、任务执行以及与周边设备的通信。 2. **KUKA System Software 5.5**：这是KUKA机器人的操作系统，提供了丰富的功能和工具，用于编程、调试和监控机器人系统。用户需要熟悉这个版本的系统软件，以便有效地开发和维护机器人程序。 3. **高级KRL编程技能**：KRL（KUKA Robot Language）是KUKA机器人的专用编程语言。手册假设用户具有高级KRL编程知识，这意味着用户应该能够编写复杂的程序，包括任务调度、路径规划、I/O控制和错误处理等。 4. **系统集成商的操作和编程指令**：手册专为系统集成商设计，提供给那些将KUKA机器人集成到更复杂自动化系统的专业人士。内容可能包括系统配置、接口设置、系统集成策略以及与其它设备的协同工作等。 5. **版权和使用限制**：手册中的内容受到版权保护，未经许可不得复制或泄露给第三方。此外，手册未描述的所有功能，即使在控制器中可用，用户也不能自动享有，这通常取决于服务或升级情况。 6. **技术更新和一致性**：虽然手册的内容已经过验证，与描述的硬件和软件相匹配，但可能存在差异，因为技术会不断更新。任何不一致的地方将在后续版本中修正。同时，手册强调了控制器可能存在未描述的其他功能，用户在进行维护或更换时需注意。 7. **翻译版本**：手册可能是原始文档的翻译版，可能涉及到语言差异和技术术语的准确度问题，用户在使用时需要理解这一点。这份手册对于想要深入理解和操作KUKA机器人系统的集成商来说是极其宝贵的资源，它提供了必要的技术信息和指导，帮助用户充分利用KUKA机器人和其配套软件的能力。

16 / 403 Issued: 28.10.2010 Version: KSS 5.5 SI V2 en

KUKA System Software 5.5

 etc.

Additional technology packages, containing application-specific instructions

and configurations, can be installed.

KUKA.HMI The user interface of the KUKA System Software is called KUKA.HMI (KUKA

Human-Machine Interface).

Features:

 User management

 Program editor

 KRL (KUKA Robot Language)

 Inline forms for programming

 Message display

 Configuration window

 Online help

 etc.

Depending on customer-specific settings, the user interface may vary from

the standard interface.

Fig. 2-2: KUKA.HMI user interface

17 / 403Issued: 28.10.2010 Version: KSS 5.5 SI V2 en

3 Safety

3.1 General

3.1.1 Liability

The device described in this document is either an industrial robot or a com-

ponent thereof.

Components of the industrial robot:

 Manipulator

 Robot controller

 Teach pendant

 Connecting cables

 External axes (optional)

e.g. linear unit, turn-tilt table, positioner

 Software

 Options, accessories

The industrial robot is built using state-of-the-art technology and in accor-

dance with the recognized safety rules. 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 only be used in perfect technical condition in accor-

dance with its intended use and only by safety-conscious persons who are ful-

ly aware of the risks involved in its operation. Use of the industrial robot is

subject to compliance with this document and with the declaration of incorpo-

ration supplied together with the industrial robot. Any functional disorders af-

fecting the safety of the industrial robot must be rectified immediately.

Safety infor-

mation

Safety information cannot be held against KUKA Roboter GmbH. Even if all

safety instructions are followed, this is not a guarantee that the industrial robot

will not cause personal injuries or material damage.

No modifications may be carried out to the industrial robot without the autho-

rization of KUKA Roboter GmbH. Additional components (tools, software,

etc.), not supplied by KUKA Roboter GmbH, may be integrated into the indus-

trial robot. 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 instruc-

tions. These must also be observed.

3.1.2 Intended use of the industrial robot

The industrial robot is intended exclusively for the use designated in the “Pur-

pose” chapter of the operating instructions or assembly instructions.

Using the industrial robot for any other or additional purpose is considered im-

permissible misuse. The manufacturer cannot be held liable for any damage

resulting from such use. The risk lies entirely with the user.

Operating the industrial robot and its options within the limits of its intended

use also involves observance of the operating and assembly instructions for

Further information is contained in the “Purpose” chapter of the operating in-

structions or assembly instructions of the component.

18 / 403 Issued: 28.10.2010 Version: KSS 5.5 SI V2 en

KUKA System Software 5.5

the individual components, with particular reference to the maintenance spec-

ifications.

Misuse Any use or application deviating from the intended use is deemed to be imper-

missible misuse. This includes e.g.:

 Transportation of persons and animals

 Use as a climbing aid

 Operation outside the permissible operating parameters

 Use in potentially explosive environments

 Operation without additional safeguards

 Outdoor operation

3.1.3 EC declaration of conformity and declaration of incorporation

This industrial robot constitutes partly completed machinery as defined by the

EC Machinery Directive. The industrial robot may only be put into operation if

the following preconditions are met:

 The industrial robot is integrated into a complete system.

Or: The industrial robot, together with other machinery, constitutes a com-

plete system.

Or: All safety functions and safeguards required for operation in the com-

plete machine as defined by the EC Machinery Directive have been added

to the industrial robot.

 The complete system complies with the EC Machinery Directive. This has

been confirmed by means of an assessment of conformity.

Declaration of

conformity

The system integrator must issue a declaration of conformity for the complete

system in accordance with the Machinery Directive. The declaration of confor-

mity forms the basis for the CE mark for the system. The industrial robot must

be operated in accordance with the applicable national laws, regulations and

standards.

The robot controller is CE certified under the EMC Directive and the Low Volt-

age Directive.

Declaration of

incorporation

The industrial robot as partly completed machinery is supplied with a declara-

tion of incorporation in accordance with Annex II B of the EC Machinery Direc-

tive 2006/42/EC. The assembly instructions and a list of essential

requirements complied with in accordance with Annex I are integral parts of

this declaration of incorporation.

The declaration of incorporation declares that the start-up of the partly com-

pleted machinery remains impermissible until the partly completed machinery

has been incorporated into machinery, or has been assembled with other parts

to form machinery, and this machinery complies with the terms of the EC Ma-

chinery Directive, and the EC declaration of conformity is present in accor-

dance with Annex II A.

The declaration of incorporation, together with its annexes, remains with the

system integrator as an integral part of the technical documentation of the

complete machinery.

19 / 403Issued: 28.10.2010 Version: KSS 5.5 SI V2 en

3 Safety

3.1.4 Terms used

3.2 Personnel

The following persons or groups of persons are defined for the industrial robot:

 User

 Personnel

User The user must observe the labor laws and regulations. This includes e.g.:

 The user must comply with his monitoring obligations.

 The user must carry out instruction at defined intervals.

Personnel Personnel must be instructed, before any work is commenced, in the type of

work involved and what exactly it entails as well as any hazards which may ex-

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.

Stopping distance Stopping distance = reaction distance + braking distance

The stopping distance is part of the danger zone.

Workspace The manipulator is allowed to move within its workspace. The work-

space is derived from the individual axis ranges.

Operator

(User)

The user of the industrial robot can be the management, employer or

delegated person responsible for use of the industrial robot.

Danger zone The danger zone consists of the workspace and the stopping distances.

KCP The KCP (KUKA Control Panel) teach pendant has all the operator con-

trol and display functions required for operating and programming the

industrial robot.

Manipulator The robot arm and the associated electrical installations

Safety zone The safety zone is situated outside the danger zone.

Stop category 0 The drives are deactivated immediately and the brakes are applied. The

manipulator and any external axes (optional) perform path-oriented

braking.

Note: This stop category is called STOP 0 in this document.

Stop category 1 The manipulator and any external axes (optional) perform path-main-

taining braking. The drives are deactivated after 1 s and the brakes are

applied.

Note: This stop category is called STOP 1 in this document.

Stop category 2 The drives are not deactivated and the brakes are not applied. The

manipulator and any external axes (optional) are braked with a normal

braking ramp.

Note: This stop category is called STOP 2 in this document.

System integrator

(plant integrator)

System integrators are people who safely integrate the industrial robot

into a complete system and commission it.

T1 Test mode, Manual Reduced Velocity (<= 250 mm/s)

T2 Test mode, Manual High Velocity (> 250 mm/s permissible)

External axis Motion axis which is not part of the manipulator but which is controlled

using the robot controller, e.g. KUKA linear unit, turn-tilt table, Posiflex.

All persons working with the industrial robot must have read and understood

the industrial robot documentation, including the safety chapter.

剩余402页未读，继续阅读

悲催的万金油

粉丝: 0
资源: 1

KUKA机器人5.5系统编程手册

RCM2200核心模块使用手册.pdf

开发板芯片DS1302中文手册.pdf

ATV32安装手册-20130115-CN.pdf

西门子SIMATIC S7-300 CPU 317F-2手册.pdf

MAX1619MEE-T maxim 美信芯片 电子元器件中文版规格手册.pdf

GE PLC资料合集.pdf

SAF7113中文资料.pdf

Rabbit BL2500 Coyote 说明书.pdf

GC8418说明书V1.3.pdf

基于LM5117芯片的降压电路设计与性能优化.pdf

最新资源

MAX1619MEE-T maxim 美信芯片电子元器件中文版规格手册.pdf