KUKA 机器人入门操作.pdf

Kuka KR16 Arm with KR C2 Controller Start-up Lab Procedure Introduction The KUKA KR16 robot is designed to perform well in any manufacturing task, from Welding to Palletizing to Machine Tending. It’s unique Windows PC-based controller allows for very powerful customization for the end user’s particular application. The KUKA robot is equipped with resolver technology for speed and position feedback. This means that when the system is powered up it doesn’t need to be referenced or homed in order to know where it is. However, A Block COincidence (BCO) move is always needed to align the physical arm with the first programmed point in a program. Safety Equipment The Robotics facility is protected by various safety devices such as Light Curtains, Emergency Stop switches, and door switches. In order to operate a robot system, the proper safety conditions must be met. Students are not permitted to enter the guarded cage at any time. If there is any reason to enter the cage an Instructor or Lab Supervisor must be the one to do it. Whenever the cage door opens all robots are automatically disabled. The cage door must be fully closed and the reset button must be pressed before any of the robots can be re-activated. Each robot work area is protected by a Light Curtain. If any object or part of the body enters the work area, the robot is disabled. Once the safety circuit has been tripped it must be reset before the robot can be re-started. The reset button lights up when the circuit is tripped and the light goes out when the circuit has been successfully reset. Page 1 of 12 Revised on October 7, 2010 Kuka KR16 Arm with KR C2 Controller Start-up Lab Procedure Human-Machine Interface The Kuka Control Panel (KCP2) handheld controller has many “Soft Keys” or “Programmable Keys