PRODUCT DOCUMENTATION

(V)KR... / (V)KR C... / KL...

Introduction

Issued: 16 Nov 2004

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Version: 00
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e Copyright 2004

KUKA Roboter GmbH Zugspitzstr. 140 D-86165 Augsburg

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function.

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Contents
1 2
2.1 2.2 2.3 2.4

Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . How to use this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Text styles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cross references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 6
6 7 8 8

3
3.1 3.2 3.3 3.4

Service requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device type and serial number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Software version numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . We value your opinion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service centers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9
10 12 13 14

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Introduction

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Foreword

Foreword
This document is part of the operating instructions. The KUKA Robot Group documentation is there to assist you in the following areas: G Working with the products from the KUKA Robot Group G Working with the product documentation G Help with service requests

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How to use this documentation

The KUKA Robot Group documentation contains: G G G Safety symbols Icons Text styles

2.1

Safety symbols
Text passages indicated by the following safety symbols are relevant to safety and must be observed. WARNING Following these safety warnings carefully can prevent personal injury.

CAUTION Following these safety warnings carefully can prevent material damage.

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How to use this documentation (continued)

2.2

Icons
Text passages indicated by the following icons facilitate handling of the robot system.

NOTE Indicates special features for particular attention.

Tip Indicates recommendations and advice to make your work easier.

See also Indicates sections or chapters containing further information and explanations.

Info Indicates passages which are of particular significance or are useful for greater understanding. Example Indicates practical examples that can be implemented in the robot system.

Modifications or entries required Indicates process steps requiring operator entries.

Modifications or entries not permissible Indicates process steps in which operator entries are not permissible.

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2.3

Text styles
Font style Text in [square brackets] Text in quotation marks Bold Serif Italics Serif bold or underlined Meaning Indicates cross references Indicates softkeys, status keys, keys and boxes (e.g. in forms) Indicates particular features Indicates extracts from program listings Explain program listings Indicates operator entries in program listings

2.4

Cross references
The following cross reference designations are used in the documentation: G G G G Handbook (HB) refers to another handbook in the operating instructions. Example: [HB: Robot]. Main chapter (MC) refers to a main chapter within a handbook. Example: [MC: Introduction]. Chapter (Ch.) refers to a subdivision of a main chapter. Example: [Ch.: How to use this documentation]. Section refers to a subdivision of a chapter. Example: [Section: Safety symbols].

<Function>

... instructs the operator to press a program key (menu key or softkey) on the KCP. The currently valid function of the key is displayed on the screen.

... instructs the operator to press a menu key and a submenu key on KCP.

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Service requests

Service requests
The KUKA Robot Group documentation offers a wealth of information on operation and provides assistance with troubleshooting. Your local service center is available at all times to deal with any service requests going beyond the scope of this documentation (see Section 3.4). You should report any faults to the service center responsible within one hour of their occurrence. The following information is required for processing a service request: G G G G G G G G Model and serial number of the robot Model and serial number of the linear unit (optional) Model and serial number of the controller Version numbers of the software Memory dump (archive) from the controller Application used External axes used Description of the problem, duration and frequency of the fault

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3.1

Device type and serial number

Check the type and serial number of all affected system parts using the identification plates. The identification plates are located in the following positions:

Fig. 1 Robot identification plate

Fig. 2 Linear unit identification plate

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Service requests (continued)

Fig. 3 (V)KR C2 control cabinet identification plate

Fig. 4 KR C3 (table version) controller identification plate

Fig. 5 KR C3 (rack version) controller identification plate

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3.2

Software version numbers

The version numbers of the software are displayed on the KCP screen by pressing the menu key Help/Info.

Fig. 6 Version numbers of the software

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Service requests (continued)

3.3

We value your opinion

These operating instructions have been carefully tailored to the product they accompany. Despite regular checks, errors cannot be entirely precluded. For this reason, we cannot guarantee that this documentation is totally free from errors. If you have any questions about the documentation (suggestions, corrections), please send them to one of the following addresses: Fax: e-mail: +49 821 797 1087 documentation@kuka-roboter.de

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Introduction

3.4

Service centers
Argentina
Ruben Costantini S. A. (Agency) Luis Angel Huergo 13 20 Parque Industrial 2400 San Francisco (CBA), Argentina Tel.: Fax: E- Mail: +54-35 64 / 42 10 33 +54-35 64 / 42 88 77 ventas@costantini-sa.com

Australia

Marand Precision Engineering Pty. Ltd (Agency) Tel.: 153 Keys Road Fax: E- Mail: Moorabbin, Victoria 31 89 Australia

+61- / 85 52 06 00 -3 +61- / 85 52 06 05 -3 robotics@marand.com.au

Austria

KUKA Roboter GmbH Vertriebsbro sterreich Regensburger Strasse 9/1 A - 4020 Linz -

Tel.: Fax: E- Mail: Internet:

+43-732 / 78 47 52 +43-732 / 79 38 80 office@kuka-roboter.at http://www.kuka-roboter.at

Belgium

KUKA Automatisering + Robots N.V. Centrum Zuid 1031 B - 3530 Houthalen Belgium

Tel.: Fax: E- Mail: Internet:

+32- / 51 61 60 -11 +32- / 52 67 94 -11 info@kuka.be http://www.kuka.be

Brazil

KUKA Roboter do Brasil Ltda. Rua Dom Feliciano no 63 Cidade Satlite, Guarulhos CEP 07224 240 So Paulo, SP Brasil

Tel.: Fax: E- Mail: -

+55- / 64 13 49 00 -11 +55- / 64 11 15 65 -11 info@kuka-roboter.com.br

China

KUKA Automation Equipment (Shanghai) Co.,Ltd. Part B, Ground Floor, No. 211, Fu te Road (North) Waigaoqiao Free Trade Zone Shanghai 200 131, China

Tel.: Fax: E- Mail: -

+86-21 / 58 66 51 39 +86-21 / 58 66 75 71 franz.poeckl@kuka-sha.com.cn

France

KUKA Automatisme + Robotique SAS Techvalle 6, Avenue du Parc F - 91140 Villebon s/Yvette -

Tel.: Fax: E- Mail: Internet:

+33- / 69 31 66 00 -1 +33- / 69 31 66 01 -1 commercial@kuka.fr http://www.kuka.fr

Germany

Service-Sttzpunkt: KUKA Roboter GmbH Zugspitzstrae 140 D - 86165 Augsburg -

Tel.: Fax: E- Mail: Internet::

0190 / 88 19 26 +49-821 / 797 - 10 87 hotline@kuka-roboter.de www.kuka-roboter.de

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3 India

Service requests (continued)

Sieflex Robotics (Agency) 54, Industrial Estate, Ambattur Madras - 600 058 India

Tel.: Fax: E- Mail: -

+91 (44) / 624 14 12 +91 (44) / 26 25 87 57 sieflexrobotics@yahoo.com

Hungary

KUKA Robotics Hungaria Kft. 2335 Taksony F t 140

Tel.: Fax: E- Mail: -

+36-24 / 50 16 09 +36-24 / 47 70 31 info@kuka-robotics.hu

Italy

KUKA Roboter Italia S.p.A. Via Pavia 9/a - int. 6 I - 10098 Rivoli (TO) -

Tel.: Fax: E- Mail: Internet:

+39- 11 / 959 50 13 -0 +39- 11 / 959 51 41 -0 kuka@kuka.it http://www.kuka.it

Korea

KUKA Robot Automation Korea, Co. Ltd. 4 Ba 806 Sihwa Ind. Complex Sung-Gok Dong, Ansan City Kyunggi Do, 425-110 Korea

Tel.: Fax: E- Mail: -

+82-31 / 496-99 37 / 496-99 38 +82-31 / 496-99 39 info@kukakorea.com

Malaysia

KUKA Robot Automation Sdn Bhd South East Asia Regional Office 24, Jalan TPP 1/10, Taman Industri Puchong 47100 Puchong, Selangor, Malaysia

Tel: Fax: E- Mail: -

+60- / 80 61-3 -06 13 / 80 61-06 14 +60- / 80 61-3 -73 86 info@kuka.com.my

Mexico

KUKA de Mexico S. de R.L. de C.V. Rio San Joaquin #339, Local 5 Colonia Pensil Sur C.P. 11490 Mexico D.F.

Tel.: Fax: E- Mail: -

+52-55 / 52 03 84 07 +52-55 / 52 03 81 48 info@kuka.com.mx

Norway

KUKA Svetsanlggningar + Robotar AB Avd. Norway Hadelandsveien 2 Postbox 17 NO-2801 Gjvik, Norway

Tel.: Fax: E- Mail: -

+47-61 / 13 34 22 +47-61 / 18 62 00 geir.ulsrud@kuka.no

Portugal

KUKA Sistemas de Automatizacin S.A. Urbanizao do Vale do Alecrim, Lote 115-B 2950 Palmela, Portugal

Tel.: Fax: E- Mail: -

+351-21 / 238 80 83 +351-21 / 238 80 86 kuka@mail.telepac.pt

Russia

KUKA- VAZ Engineering 445633 Togliatti Jushnoje Chaussee, 36 VAZ, PTO

Tel.: Fax: Tx: E- Mail: -

+7-84 82 / 39 12 49 / 37 05 64 +7-84 82 / 73 67 30 +7-21 41 06 y.klychkov@vaz.ru

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South Africa

Jendamark Automation LTD (Agency) 76a York Road, North End Port Elizabeth 6000 South Africa

Tel.: Fax: Internet:

+27-41 / 391 47 00 +27-41 / 373 38 69 http://www.jendamark.co.za

Spain

KUKA Sistemas de Automatizacin, S.A. Pol. Industrial Torrent de la Pastera Carrer del Bages s/n E - 08800 Vilanova i La Geltr (Barcelona) -

Tel.: Fax: E- Mail: Internet:

+34-93 / 814 23 53 +34-93 / 814 29 50 comercial@kuka-e.com http://www.kuka-e.com

Sweden

KUKA Svetsanlggningar + Robotar AB A. Odhners gata 15 S-42130 Vstra Frlunda

Tel.: Fax: E- Mail: -

+46-31 / 72 66 200 +46-31 / 72 66 201 info@kuka.se

Switzerland

KUKA Roboter Schweiz AG Riedstrasse 7 CH-8953 Dietikon

Tel.: Fax: E- Mail: Internet:

+41-17 / 44 90 90 +41-17 / 44 90 91 info@kuka-roboter.ch http://www.kuka-roboter.ch

Taiwan

KUKA Robot Automation Taiwan Co., Ltd. 136, Section 2, Huanjung E. Road Jungli City, Taoyuan, Taiwan 320

Tel.: Fax: E- Mail: Internet:

+886- / 437 19 02 -3 +886- / 283 00 23 -3 info@kuka.com.tw www.kuka.com.tw

Thailand

KUKA Robot Automation (M)Sdn Bhd Thailand Office c/o Maccall System Co. Ltd. 49/9-10 Soi Kingkaew 30, Kingkaew Road Tt. Rachatheva, A. Bangpli Samutprakarn, 10540 Thailand

Tel.: Fax: E- Mail: Internet:

+66- / 750 27 37 -2 +66- / 661 23 55 -2 atika@ji-net.com http://www.kuka-roboter.de

U.K.

KUKA Welding Systems + Robot Ltd. Hereward Rise, Halesowen UK-West Midlands B62 8AN GB

Tel.: Fax: E- Mail: -

+44-121 / 58 50 800 +44-121 / 58 50 900 sales@kuka.co.uk

U.S.A.

KUKA Robotics Corp. 22500 Key Drive Clinton Township Michigan 48 036 USA
1

Tel.: Fax: E- Mail: Internet:

+1-866 / 873 58 52 +1-(586) / 569 20 87 info@kukarobotics.com http://www.kukarobotics.com

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Index

A
Application, 9

I
Icons, 6, 7 Example, 7 Info, 7 Modifications or entries not permissible, 7 Modifications or entries required, 7 Note, 7 See also, 7 Tip, 7 Identification plate KR C3, 11 Linear unit, 10 Robot, 10 Identification plates, 10 Info, 7 Italics, 8

B
Bold, 8

C
Caution, 6 Ch., 8 Controller, 9 Controller serial number, 9 Cross reference Ch., 8 HB, 8 MC, 8 Section, 8 Cross references, 8

K
KUKA Robot Group, 5

L
Linear unit, 9

D
Description of the problem, 9 Device type, 10

M
Material damage, 6 MC, 8 Memory dump, 9 Menu key, 8 Modifications or entries not permissible, 7 Modifications or entries required, 7

E
Example, 7 External axes, 9

N
Note, 7

F
Foreword, 5 Frequency of the fault, 9

P
Personal injury, 6 Program key, 8

Q H
HB, 8 Help with service requests, 5 How to use this documentation, 6 Quotation marks, 8

R
Robot serial number, 9 Index -- i

Index

S
Safety symbols, 6 Caution, 6 Warning, 6 Section, 8 See also, 7 Serial number, 10 Serif, 8 Serif bold, 8 Service centers, 14 Service requests, 9 Softkey, 8 Software version numbers, 12 Square brackets, 8 Submenu key, 8

T
Text emphasis, 6 Text style Bold, 8 Italics, 8 Quotation marks, 8 Serif, 8 Serif bold, 8 Square brackets, 8 Text styles, 8 Tip, 7

V
Version numbers of the software, 9

W
Warning, 6 Working with the product documentation, 5

Index -- ii