Only the performance increases
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- Laureen Cox
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1 Development of KUKA robots Only the performance increases 100% Weight Performance Costs Parts Service 50% Duration of assembly 30% 20% KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 1
2 Comparison of different kinematics concepts Overhead motion possible Bigger work space KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 2
3 Comparison of jamming edges KUKA Robot Parallelogram Robot Simple and clearly arranged configuration Easy planning of robot assembly lines and cells KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 3
4 KUKA robot classes Lower Payload Medium Payload High Payload Heavy Payload Special Series (V)KR 6/2 (V)KR 30/2 (V)KR 125/2 (V)KR 350/2 (V)KR 60P/1 (V)KR 15/2 (V)KR 30 L15/2 (V)KR 45/2 (V)KR 150/2 (V)KR 200/2 (V)KR 350L280/2 (V)KR 350L240/2 (V)KR 100P/1 (V)KR 100PA/1 (V)KR 160PA/1 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 4
5 Heavy duty robot (V)KR 350/2 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 5
6 Press to Press Linker: (V)KR 60 P/2, (V)KR 100 P/2 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 6
7 Palettizier KR 180 PA KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 7
8 Console robot (V)KR 125 K/1, (V)KR 150 K/1 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 8
9 The new console robot KR 30 K KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 9
10 Wall mounted robot (V)KR 125 W/2 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 10
11 The new mini robot KR 3 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 11
12 For all situations: flexible mounting positions Wall mounting: (V)KR 6/2 (V)KR 15/2 (V)KR 30/2 (V)KR 30L15/2 (V)KR 125 W/2 Floor mounting: (V)KR 6/2 (V)KR 15/2 (V)KR 15 L2/2 (V)KR 30/2 (V)KR 30 L15/2 (V)KR 45/2 (V)KR 125/2 (V)KR 150/2, 200/2 (V)KR 350/2 KL 250, KL 1500 Ceiling mounting: (V)KR 6/2 (V)KR 15/2 (V)KR 15 L2/2 (V)KR 30/2 (V)KR 30 L15/2 (V)KR 45/2 (V)KR 125/2 (V)KR 150/2, 200/2 (V)KR 350/2 KL 250, KL 1500 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 12
13 KUKA linear unit (KL) KUKA liner units for more liberty of action KL 250 (max. weight 250kg) for KR 15 and smaller KL 1500 (max. weight 1500kg ) for KR 30 and higher KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 13
14 KL mounting positions Ceiling mounting Floor mounting KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 14
15 Components of a complete KUKA robot system Robot Controller (e.g. KR C1) KUKA Robot (e.g. KR 200/2) KUKA Control Panel (KCP) KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 15
16 KUKA Control Panel (KCP) key switch for operating modes drives on / drives off Emergency Stop big, colored screen soft keys around the display hard keys for programand display control 6D-spacemouse numeric block, ASCII block, curser block with Enter key KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 16
17 Robot controller KR C1 and KR C1A KR C1 KR C1A KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 17
18 KUKA type code The type code of the KUKA-Industrial robots refers to the payload. The KUKA type code: KR xxx / y KUKA Industrial Roboter Payload of the robots in kilograms 1 kg = 2.2 lbs Robot generation KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 18
19 Example: KUKA type code KR 150 / 2 KUKA Industrial Robot with 150 kg payload 2. Generation KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 19
20 Mechanical construction of a KUKA robot Arm Wrist Rotating column / carusel Link arm Base KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 20
21 Axes of a KUKA robot Axis 4 Axis 3 Axis 5 Axis 6 Axis 1 Axes 1,2 and 3 are the basic axes. Axes 4,5 and 6 are the wrist axes. Axis 2 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 21
22 The working space of a KUKA robot (overview) overview: working space angle axis 1: >360 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 22
23 Payload spreading of a KUKA robot ext. load payload total load=payload+extended load KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 23
24 Construction of the controll cabinet KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 24
25 Cooling of the control cabinet KR C1 Front view of the inner and outer Cooling circuit 1 Inner Cooling circuit 2 Fan Inner cooling circuit 3 Head converter Side view of the outer Cooling circuit 4 Outer Cooling circuit 5 Fan Inner cooling circuit 6 Head converter KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 25
26 Front view of the PC unit Floppy Drive COM1 Power-ON-LED CD ROM Drive Safty board FE201 LPT1 KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 26
27 Overview of the PC unit Fieldbus card (Option) MFC card KVGA card Connector for A extern keyboard X961 PC-Power supply COM2 Extern Power supply for Interbuscard (Option) KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 27
28 User groups Configuration of the robot system (External axes, Technology) Configuration of the robot system (Fieldbus, Visionsystem etc.) Own Technology commands via UserTECH Expert Start up (Mastering, Tool measuring) Simple robot programs (Programming with Inline forms, Motion commands, Technology commands, limit monitoring, no Syntax errors) Administrator User Advanced programming with program language KRL Complex robot programs (Subprograms, Interrupt programming, Loops, Program junction) Numeric Motion commands KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 28
29 KUKA Control Panel (KCP) KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 29
30 Handling Key switch Operation mode Drives ON Drives OFF Emergency Stop KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 30
31 Operation mode switch AUTOMATIC AUTOMATIC EXTERN T T2 (Test 2) T T1 (Test 1) KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 31
32 Operation mode elements with CAN-Bus Escape key Window selection key KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 32
33 Display windows Program window status window Message window KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 33
34 Window selection key KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 34
35 Program window Linepointer Programpointer Cursor Line number KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 35
36 Status window The status window can be opened on demand. The status window can be closed every time. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 36
37 Message window The system communicates with the user by the message window. Softkeys to acknowledge the messages KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 37
38 Marks of the messages Hint State acknowledge - e.g. Startkey requiered - e.g. Emergency Stop - e.g. acknowledge E.-Stop Wait - e.g. Wait for $IN[1]==True Dialog - e.g. Would you teach the point? KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 38
39 Operation elements with CAN-Bus STOP key Programstart forward Programstart backward KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 39
40 Operation elements with CAN-Bus Numeric block NUM key KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 40
41 Operation elements with CAN-Bus ASCII keyboard KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 41
42 Operation elements with CAN-Bus RETURN key CURSOR block KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 42
43 Menu keys Menu keys KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 43
44 Status keys Status keys KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 44
45 Softkeys Softkeys KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 45
46 Status line Numeric Insert mode Robot name Time Program in editor Selected Program Actual Line number Operation mode Override KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 46
47 Status line Submit-Interpreter stopped Submit-Interpreter runs Drives off Drives on KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 47
48 Status line No programm selected Linepointer on the first line Program runs Program stopped Linepointer on the last line KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 48
49 Coordinate Systems Joint jogging Every robot axis can be moved on it s own in positive and negative direction. WORLD coordinate system A stationary, rectangle coordinate system, with the origin in the robot basement. TOOL coordinate system A stationary, rectangle coordinate system, with the origin in the robot basement. BASE coordinate system A rectangle coordinate system, with the origin at the workpiece. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 49
50 Joint jogging Every robot axis can be moved on it s own in positive and negative direction. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 50
51 WORLD coordinate system A stationary, rectangle coordinate system, with the origin in the robot basement. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 51
52 TOOL coordinate system A stationary, rectangle coordinate system, with the origin in the robot basement. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 52
53 BASE coordinate system A rectangle coordinate system, with the origin at the workpiece. KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 53
54 Rotation angle at cartesian coordinates Angle A Angle B Angle C Rotation around the Z-axis Rotation around the Y-axis Rotation around the X-axis X Y Z A B C A +Z B +Y C +X KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 54
55 Right Hand Rule (Coordinate directions) +Y +X +Z KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 55
56 Right Hand Rule (Rotation direction) +X, +Y or +Z +C, +B or +A KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 56
57 Select a coordinate system Select jogging Traversing keys Spacemouse Select coordinate system Joint jogging WORLD coordinate system TOOL coordinate system BASE coordinate system KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 57
58 Joint jogging with 6D mouse KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 58
59 Cartesian jogging with 6D mouse KUKA Roboter GmbH, Blücherstr. 144, D Augsburg, Tel.: +49 (0) 8 21/ , Fax: +49 (0) 8 21/ , I I College I ML I 59
You can choose between two kinds of comments:
Comment You can choose between two kinds of comments: any desired text extended text KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de
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