KUKA机器人KRC4操作说明书

9/181:15.02.2011:KSS8.2ENDV1zh111.11.21.31.4WindowsWordPad://://://://:15.02.2011:KSS8.2ENDV1zh8.211/181:15.02.2011:KSS8.2ENDV1zh222.12.28.2WindowsXPeV3.0.02.3(KSS)(KSS)I/O2-1:132412/181:15.02.2011:KSS8.2ENDV1zh8.2smartHMIKUKAsmartHMI(smart)KRL(4.2KUKAsmartHMI37)13/181:15.02.2011:KSS8.2ENDV1zh333.13.1.13.1.214/181:15.02.2011:KSS8.2ENDV1zh8.23.1.3ECCECE2006/42/EGIIBIIIA3.1.4STOP0STOP1STOP2EN60204-1:2006=+KCPKCPKRC4KCPsmartPADKCPSTOP0STOP0STOP0015/181:15.02.2011:KSS8.2ENDV1zh33.2STOP1STOP1STOP11STOP2STOP2STOP220STOP011STOP12STOP2T1=250mm/sT2250mm/sPosiflex16/181:15.02.2011:KSS8.2ENDV1zh8.2CExxxxxxxxxxxxxxxxxxxxxxxxx17/181:15.02.2011:KSS8.2ENDV1zh33.33.43-1:A11324T1,T2AUT,AUTEXTSTOP22-STOP22STOP12STOP22STOP02STOP0STOP12-12-1-18/181:15.02.2011:KSS8.2ENDV1zh8.23.53.5.1=12T1ENISO13849-1:20083dEN62061SIL2HFT16PCsmartPAD(CCU)(RDC)PowerPack(KPP)ServoPack(KSP)3.5.2PCT110T1,T2AUT,AUTEXT19/181:15.02.2011:KSS8.2ENDV1zh33.5.3(T1)(T2)(AUT)(AUTEXT)3.5.41T1T23.5.5KCP2T1250mm/s250mm/sT2AUTAUTEXTPLC20/181:15.02.2011:KSS8.2ENDV1zh8.21KCP(3.5.720)3.5.63.5.7KCP3.5.8KCP332122KCPKCP21/181:15.02.2011:KSS8.2ENDV1zh33.5.93.5.10FALSETRUE3.5.111212FALSETRUE3.5.12T1T1TCP250mm/s03.63.6.1T1T22123.6.2/22/181:15.02.2011:KSS8.2ENDV1zh8.23.6.3A1A3A53.6.4A1A33.6.5A1A33.6.61.2.3.(10169)250mm/s23/181:15.02.2011:KSS8.2ENDV1zh33.6.73.6.8EN953PLCENISO13849-13d3.7EN95324/181:15.02.2011:KSS8.2ENDV1zh8.23.83.8.1KCPKCPKCP/KCPKCP/T1T2AUTAUTEXT---------25/181:15.02.2011:KSS8.2ENDV1zh3(T1)(T1)3.8.23.8.326/181:15.02.2011:KSS8.2ENDV1zh8.2KCP1.2.3.T1100%4.250mm/s3.8.3.1smartHMIT127/181:15.02.2011:KSS8.2ENDV1zh3T13.8.4(T1)(T1)28/181:15.02.2011:KSS8.2ENDV1zh8.2(T2)3.8.5(T1)3.8.63.8.7T129/181:15.02.2011:KSS8.2ENDV1zh3EGB50V780V20IIIII14153.8.83.8.9SinglePointofControl(SPOC)PLCOPC(RemoteControlTools)KUKA.RobotSensorInterface/30/181:15.02.2011:KSS8.2ENDV1zh8.2T1,T2/PLCPLC/T1T2PLCT1T2PLC$OV_PROPLCPLCOPC(RemoteControlTools)WorkVisual/KCPSPOC$USER_SAF$SPOC_MOTION_ENABLE31/181:15.02.2011:KSS8.2ENDV1zh33.92006/42/EG200651795/16/EG2006/42/EG20062004/108/EG2004121589/336/EWG2004/108/EG200497/23/EG199752997/23/EG1997ENISO138502008ENISO13849-112008ENISO13849-222008ENISO12100-112003ENISO12100-222003ENISO10218-12008EN614-112006EN61000-6-2EMC6-22005EN61000-6-4EMC6-42007EN60204-112006ENISO10218-1BKRC4ENISO10218-132/181:15.02.2011:KSS8.2ENDV1zh8.233/181:15.02.2011:KSS8.2ENDV1zh444.1smartPAD4.1.1smartPADsmartPADsmartPADsmartHMIsmartPADKCPKUKA4-1:smartPAD34/181:15.02.2011:KSS8.2ENDV1zh8.21smartPAD(4.1.3smartPAD36)2(4.1143)34(4.1346)5(4.1346)678smartHMI(4.439)910111213smartHMI(4.2.339)35/181:15.02.2011:KSS8.2ENDV1zh44.1.24-2:smartPAD14USB25363T1T2USBUSB/FAT32USB36/181:15.02.2011:KSS8.2ENDV1zh8.24.1.3smartPADsmartPAD1.smartPADsmartHMI30smartPAD2.smartPADsmartPADsmartPADsmartPADsmartPAD30smartHMI30smartPADsmartPADsmartPADsmartPADsmartPADsmartPADsmartPADRoboTeamMastersmartPADsmartPAD3037/181:15.02.2011:KSS8.2ENDV1zh44.2KUKAsmartHMI4-3:KUKAsmartHMI1(4.2.138)23OKOK45(4.13.852)38/181:15.02.2011:KSS8.2ENDV1zh8.24.2.14.2.267A1A2XYZABC8(6.5.4POV104)9(4.13.3HOV50)10smartHMI1112WorkVisualX4-4:KUKAsmartHMI39/181:15.02.2011:KSS8.2ENDV1zh44.2.3smartPADsmartHMIsmartHMIsmartHMI4.3KSSONKSSKSSC:\KRCStartKRC.exe4.4KCP4-5:40/181:15.02.2011:KSS8.2ENDV1zh8.2Home64.5KSST1T21.2.3.KRCKSS4-6:41/181:15.02.2011:KSS8.2ENDV1zh4KSS4-7:-(4.642)-(4.642)42/181:15.02.2011:KSS8.2ENDV1zh8.24.64.7OFF4.81.2.OK4.91.2.(3.KSS:PCT1T2PCT1T2/T1T2FALSEWindowsKSSPC43/181:15.02.2011:KSS8.2ENDV1zh4KUKA.SafeOperationKUKA.SafeRangeMonitoringPlug-InskukaAUTAUTEXT3004.101.2.3....4.11244/181:15.02.2011:KSS8.2ENDV1zh8.21.smartPAD2.3.smartPAD4.12ROBROOTT1250mm/s250mm/sT2AUTAUTEXTPLC45/181:15.02.2011:KSS8.2ENDV1zh4ROBROOTROBROOTROBROOTROBROOT$ROBROOT(5.6.280)(5.6.174)4-8:AZBYCX46/181:15.02.2011:KSS8.2ENDV1zh8.24.132TCP24.13.11.smartHMIPOV2.4-9:(4.13.651)(4.13.550)(4.13.953)47/181:15.02.2011:KSS8.2ENDV1zh4smartHMI4.13.1.14.13.1.24-10:1(6.5.4POV104)2(4.13.3HOV50)3(6.5.2104)4-11:48/181:15.02.2011:KSS8.2ENDV1zh8.24.13.1.31(4.13.250)2=A1A6(4.1454)34(4.13.1054)4-12:1(4.13.250)2(4.13.751)349/181:15.02.2011:KSS8.2ENDV1zh44.13.1.4Kcp4.13.1.5/4-13:Kcp1(4.13.852)4-14:/1(4.13.450)[?]2(4.13.450)[?]350/181:15.02.2011:KSS8.2ENDV1zh8.24.13.21.(4.13.146)2.4.13.3HOV250mm/s1.POV/HOV2.100%75%50%30%10%3%1%1%3.POV/HOVKCP100%75%50%30%10%3%1%4.13.416321.//2.3.4.13.5T11.2.3.A1A64.51/181:15.02.2011:KSS8.2ENDV1zh44.13.6T1(4.13.450)1.2.3.XYZABC4.4.13.71.(4.13.146)2.6DXYZABCTCP3.4-15:3652/181:15.02.2011:KSS8.2ENDV1zh8.24.13.8SpaceMouseTCPSpaceMouse6DXYZXYZXYZXYZABCXYZ4-16:4-17:53/181:15.02.2011:KSS8.2ENDV1zh40.T11.Kcp2.KCP=453.4.13.9T1(4.13.450)(4.13.751)(4.13.852)4-18:02704-19:054/181:15.02.2011:KSS8.2ENDV1zh8.21.2.3.4.4.13.1010mm3mmXYZABCT11.2.4.14T1