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首页VW C4操作系统集成指南(8.1版)
VW C4操作系统集成指南(8.1版)
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更新于2024-07-17
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VW C4操作系统说明.pdf是一份由KUKA Roboter GmbH发布的详细操作与编程手册,针对VWSystemSoftware 8.1。这份文档于2010年9月1日发行,适用于System Integrators,即系统集成商,旨在帮助他们理解和操作VWSystemSoftware在KUKA机器人控制器中的应用。KUKA是一家德国公司,位于奥格斯堡,专门从事工业机器人技术。 该软件版本的VSS 8.1 SIV2 en包含了对VWSystemSoftware的全面介绍,包括其核心功能、安装步骤、配置指南以及可能存在的限制和注意事项。文档强调了未经KUKA明确许可,不得复制或向第三方透露相关内容。用户在使用过程中,虽然可能有其他未在文档中详述的功能,但并不享有这些额外功能的权利,除非进行替换或服务工作。 尽管KUKA已经尽力确保文档内容与所描述的硬件和软件兼容,但仍可能存在差异,因此无法保证完全一致。文档内容会定期更新和校验,后续版本将包含必要的修正。同时,此文档是基于技术变更而无需影响功能的原则编写的。 值得注意的是,文档还提到了翻译来源,KIM-PS5-DOC,这表明它可能源于更原始的资料,可能是由KUKA提供的官方或授权翻译。对于想要深入学习和使用VW C4操作系统的系统集成商来说,这份文档是不可或缺的参考资料,它提供了关于如何充分利用该软件进行机器人控制和程序设计的实用指导。
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16 / 347 Issued: 01.09.2010 Version: VSS 8.1 SI V2 en
VW System Software 8.1
smartHMI The user interface of the VW System Software is called KUKA smartHMI
(smart Human-Machine Interface).
Features:
User management
Program editor
KRL (KUKA Robot Language)
Inline forms for programming
Message display
Configuration window
etc.
(>>> 4.2 "KUKA smartHMI user interface" Page 45)
Depending on customer-specific settings, the user interface may vary from
the standard interface.
Additional options, containing application-specific instructions and configura-
tions, can be installed.
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17 / 347 Issued: 01.09.2010 Version: VSS 8.1 SI V2 en
3 Safety
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.
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18 / 347 Issued: 01.09.2010 Version: VSS 8.1 SI V2 en
VW System Software 8.1
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.
3.1.4 Terms used
STOP 0, STOP 1 and STOP 2 are the stop definitions according to EN 60204-
1:2006.
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19 / 347 Issued: 01.09.2010 Version: VSS 8.1 SI V2 en
3 Safety
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.
The KCP variant for the KR C4 is called KUKA smartPAD. The general
term “KCP”, however, is generally used in this documentation.
Manipulator The robot arm and the associated electrical installations
Safety zone The safety zone is situated outside the danger zone.
Safety STOP 0 A stop that is triggered and executed by the safety controller. The safety
controller immediately switches off the drives and the power supply to
the brakes.
Note: This stop is called safety STOP 0 in this document.
Safety STOP 1 A stop that is triggered and monitored by the safety controller. The brak-
ing process is performed by the non-safety-oriented part of the robot
controller and monitored by the safety controller. As soon as the manip-
ulator is at a standstill, the safety controller switches off the drives and
the power supply to the brakes.
Note: This stop is called safety STOP 1 in this document.
Safety STOP 2 A stop that is triggered and monitored by the safety controller. The brak-
ing process is performed by the non-safety-oriented part of the robot
controller and monitored by the safety controller. The drives remain acti-
vated and the brakes released.
Note: This stop is called safety STOP 2 in this document.
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 path-
maintaining 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.
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20 / 347 Issued: 01.09.2010 Version: VSS 8.1 SI V2 en
VW System Software 8.1
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-
ist. Instruction must be carried out regularly. Instruction is also required after
particular incidents or technical modifications.
Personnel includes:
System integrator
Operators, subdivided into:
Start-up, maintenance and service personnel
Operating personnel
Cleaning personnel
System integrator The industrial robot is safely integrated into a complete system by the system
integrator.
The system integrator is responsible for the following tasks:
Installing the industrial robot
Connecting the industrial robot
Performing risk assessment
Implementing the required safety functions and safeguards
Issuing the declaration of conformity
Attaching the CE mark
Creating the operating instructions for the complete system
Operator The operator must meet the following preconditions:
The operator must be trained for the work to be carried out.
Work on the industrial robot must only be carried out by qualified person-
nel. These are people who, due to their specialist training, knowledge and
experience, and their familiarization with the relevant standards, are able
to assess the work to be carried out and detect any potential hazards.
Example The tasks can be distributed as shown in the following table.
All persons working with the industrial robot must have read and understood
the industrial robot documentation, including the safety chapter.
Installation, exchange, adjustment, operation, maintenance and repair must
be performed only as specified in the operating or assembly instructions for
the relevant component of the industrial robot and only by personnel special-
ly trained for this purpose.
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