2024年6月7日发(作者：)

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”. These are buttons that are positioned around the display screen.

The current function of each button is displayed on the screen and changes dynamically

to suit the needs of the operation. The paragraphs below describe the physical layout of

the KCP; refer to the screen shot of the display itself for an example of the types of

function that could be shown on the screen.

The top row keys are referred to as Menu Keys. They are used to open menus, while the

Arrow keys and Enter key (lower right) are used to navigate through the menus.

The keys on the left and right sides of the screen are Status Keys. They are used for

selecting operating options, switching individual functions and setting values. Their

current function is displayed on the screen.

Page 2 of 12 Revised on October 7, 2010