KUKA机器人编程基础手册：功能与操作指南

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"《基本编程手册》是KUKA Roboter GmbH提供的官方培训文档，专注于KUKA系统的机器人编程。该手册的标题表明，它是一个基础级别的指南，旨在帮助用户入门编程，并可能包括对KUKA System Software 8的介绍。发布日期为2012年9月26日，版本P1KSS8 Robot Programmierung 1 V2en (PDF-COL)，强调了版权归属以及未经KUKA Roboter GmbH明确许可，不得复制或向第三方透露部分内容。文档中详细阐述了如何进行机器人编程，特别是针对初学者的入门训练，可能会涉及指令集、变量管理、控制流程等基础知识。虽然官方已尽力确保内容与所描述的硬件和软件兼容，但可能存在某些未提及的功能，这些功能在实际控制器中可能可用，但对于用户来说，并不构成权利要求。此外，由于技术更新，文档中的信息可能会有所变化，但会定期进行审查和修订，以保持与最新产品和服务的一致性。值得注意的是，这个版本是翻译自原始文档，可能包含一些语言转换后的表达，以适应不同语言环境下的理解。整体而言，《基本编程手册》提供了KUKA机器人系统的基础操作教程，对于想要学习或维护KUKA机器人的技术人员来说，这是一个重要的参考资料，它不仅涵盖了编程技巧，还包含了关于服务和更换时的注意事项，确保用户能够安全、有效地使用KUKA产品。"

16 / 183 Issued: 26.09.2012 Version: P1KSS8 Roboterprogrammierung 1 V2 en (PDF-COL)

Robot Programming 1

1.8 Robot safety

A robot system must always have suitable safety features. These include, for

example, physical safeguards (fences, gates, etc.), EMERGENCY STOP but-

tons, dead-man switches, axis range limitations, etc.

Example: College

training cell

EMERGENCY

STOP device

The EMERGENCY STOP device for the industrial robot is the EMERGENCY

STOP button on the KCP. The button must be pressed in the event of a haz-

ardous situation or emergency.

Reactions of the industrial robot if the EMERGENCY STOP button is pressed:

 The manipulator and any external axes (optional) are stopped with a safe-

ty stop 1.

Before operation can be resumed, the EMERGENCY STOP button must be

turned to release it and the ensuing stop message must be acknowledged.

Fig. 1-13: Training cell

1 Safety fence

2 Mechanical end stops or axis range limitation for axes 1, 2 and 3

3 Safety gate with contact for monitoring the closing function

4 EMERGENCY STOP button (external)

5 EMERGENCY STOP button, enabling switch, keyswitch for calling

the connection manager

6 Integrated (V)KR C4 safety controller

In the absence of functional safety equipment and safe-

guards, the robot system can cause personal injury or

material damage. If safety equipment or safeguards are dismantled or deac-

tivated, the robot system may not be operated.

17 / 183Issued: 26.09.2012 Version: P1KSS8 Roboterprogrammierung 1 V2 en (PDF-COL)

1 Structure and function of a KUKA robot system

There must always be at least one external EMERGENCY STOP device in-

stalled. This ensures that an EMERGENCY STOP device is available even

when the KCP is disconnected.

External E-STOP

There must be EMERGENCY STOP devices available at every operator sta-

tion that can initiate a robot motion or other potentially hazardous situation.

The system integrator is responsible for ensuring this.

There must always be at least one external EMERGENCY STOP device in-

stalled. This ensures that an EMERGENCY STOP device is available even

when the KCP is disconnected.

External EMERGENCY STOP devices are connected via the customer inter-

face. External EMERGENCY STOP devices are not included in the scope of

supply of the industrial robot.

Operator safety

The operator safety signal is used for interlocking physical safeguards, e.g.

safety gates. Automatic operation is not possible without this signal. In the

event of a loss of signal during automatic operation (e.g. safety gate is

opened), the manipulator stops with a safety stop 1.

Operator safety is not active in the test modes T1 (Manual Reduced Velocity)

and T2 (Manual High Velocity).

Safe operational

stop

The safe operational stop can be triggered via an input on the customer inter-

face. The state is maintained as long as the external signal is FALSE. If the

external signal is TRUE, the manipulator can be moved again. No acknowl-

edgement is required.

External safety

stop 1 and

external safety

stop 2

Safety stop 1 and safety stop 2 can be triggered via an input on the customer

interface. The state is maintained as long as the external signal is FALSE. If

the external signal is TRUE, the manipulator can be moved again. No ac-

knowledgement is required.

Tools and other equipment connected to the manipulator

must be integrated into the EMERGENCY STOP circuit

on the system side if they could constitute a potential hazard.

Failure to observe this precaution may result in death, severe injuries or con-

siderable damage to property.

Following a loss of signal, automatic operation must not

be resumed merely by closing the safeguard; it must first

additionally be acknowledged. It is the responsibility of the system integrator

to ensure this. This is to prevent automatic operation from being resumed in-

advertently while there are still persons in the danger zone, e.g. due to the

safety gate closing accidentally.

 The acknowledgement must be designed in such a way that an actual

check of the danger zone can be carried out first. Acknowledgement

functions that do not allow this (e.g. because they are automatically trig-

gered by closure of the safeguard) are not permissible.

 Failure to observe this may result in death to persons, severe injuries or

considerable damage to property.

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