Kuka KR C2 edition05, Руководство по эксплуатации

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5. Planning
5.9 Planning the KCP coupler option
Visualization
If the robot controller is operated with a detachable KCP, the following system
variables must be visualized:
„
$Mode_T1 (T1 mode)
„
$Mode_T2 (T2 mode)
„
$Mode_Ext (External mode)
„
$Mode_Aut (Automatic mode)
„
$Notaus (Emergency Stop)
„
$Pro_Act (program active)
The display can be configured using I/Os or a PLC. The system variables can
be configured in the file: STEU/$MACHINE.DAT.
1 Equipotential bonding to KR C2
ed05
4 Cable duct
2 Equipotential bonding from the
connection panel to the cable
duct
5 Equipotential bonding from the
cable duct to the robot
3 Connection panel, KR C2 ed05 6 Equipotential bonding connec-
tion on the robot
Fig. 5-10: Equipotential bonding, from controller to robot
1 Equipotential bonding to KR C2
ed05
3 Equipotential bonding from the
connection panel to the robot
2 Connection panel, KR C2 ed05 4 Equipotential bonding connec-
tion on the robot
Warning!
If the KCP is disconnected, the system can no longer be deactivated by
means of the E-STOP button on the KCP. An external E-STOP must be con-
nected to interface X11 to prevent personal injury and material damage.