1 the Complete Robot System
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Monash University Malaysia The Industrial Robot
description
KUKA Robot introduction
Transcript of 1 the Complete Robot System
Monash University Malaysia
The Industrial Robot
The Components of a Robot
Manipulator
Control cabinet
KCP
Monash University Sunway Campus Malaysia
Monash University Sunway Campus Malaysia
KUKA robotKR 125
KUKA robot controllerKR C1
KUKA control panelKCP
6D mouse
All robot axes under intuitive control: with the 6D mouse
Monash University Sunway Campus Malaysia
Multifunctional: The KUKA Control Panel
Keylock switch for mode selectionON/OFF switch for drivesEmergency Stop pushbutton
Numeric cluster, keyboard, cursor keys with Enter key
Large color display with graphics capabilitiesSoftkeys located around the display
Hardkeys for program and display control
6D mouse
The Robot Controller
Monash University Sunway Campus Malaysia
Swing frame
Disk drive
CD-ROMdrive
Mouse port
Printer port
Safety logic
POWER ON LED
Cooling the control cabinetPlease ensure that the fan motors are rotating the right way
Front view: internal and external cooling circuit
Side view: external cooling circuit1 Internal cooling circuit2 Internal cooling circuit fan3 Lateral heat exchanger
4 External cooling circuit5 External cooling circuit fan6 Rear heat exchanger
Overview of controller hardware
Keyboard Control elements
Watchdog, CAN bus,Ethernet, temperaturemonitoring, KCP keyboard, 16 inputs, 20 outputs
Parallel interface
Motor cable
Motors withresolvers
Control cable (serial)actual values for all axes +motor temperature
EthernetDisplay
Position control,speed control,commutation
Control Block Diagram
Power supply
commandvalue
Current Errorlogic
Currentcontroller
Amplifieroutput stage
Mains3 x 400V
Intermediate circuit voltage600V (540V-650V)
Auxiliary supply 27V
Positionactual value Resolver Digital Converter
(RDW)
DigitalServoElectronics(DSEAT)
Positioncommand value
R
Software concept
Windows 95
KUKABOF Kukaftpd
CROSS
Editor
VxWorks
Robotprograms
Controllerprograms
DriveOperating system
Kernel system
Only during initialization
The two systems communicate with one another via TCP/IP protocol
