PRODUCT DOCUMENTATION

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

Introduction

Issued: 16 Nov 2004 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 Foreword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 How to use this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.1 Safety symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Text styles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 Cross references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Service requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1 Device type and serial number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Software version numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 We value your opinion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 Service centers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

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 Introduction

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 1 Foreword

1 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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 Introduction

2 How to use this documentation

The KUKA Robot Group documentation contains:
G Safety symbols
G Icons
G 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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 2 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 under-
standing.

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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 Introduction

2.3 Text styles

Font style Meaning

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

2.4 Cross references

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

... instructs the operator to press a program key (menu key or softkey) on the KCP.
<Function>
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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 3 Service requests

3 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 Model and serial number of the robot
G Model and serial number of the linear unit (optional)
G Model and serial number of the controller
G Version numbers of the software
G Memory dump (archive) from the controller
G Application used
G External axes used
G Description of the problem, duration and frequency of the fault

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 Introduction

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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 3 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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 Introduction

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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 3 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: +49 821 797 1087
e--mail: documentation@kuka--roboter.de

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 Introduction

3.4 Service centers

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

Australia
Marand Precision Engineering Pty. Ltd (Agency) Tel.: +61--3 / 85 52 06 00
153 Keys Road Fax: +61--3 / 85 52 06 05
Moorabbin, Victoria 31 89 E-- Mail: robotics@marand.com.au
Australia

Austria
KUKA Roboter GmbH Tel.: +43--732 / 78 47 52
Vertriebsbüro Österreich Fax: +43--732 / 79 38 80
Regensburger Strasse 9/1 E-- Mail: office@kuka--roboter.at
A -- 4020 Linz Internet: http://www.kuka--roboter.at

Belgium
KUKA Automatisering + Robots N.V. Tel.: +32--11 / 51 61 60
Centrum Zuid 1031 Fax: +32--11 / 52 67 94
B -- 3530 Houthalen E-- Mail: info@kuka.be
Belgium Internet: http://www.kuka.be

Brazil
KUKA Roboter do Brasil Ltda. Tel.: +55--11 / 64 13 49 00
Rua Dom Feliciano no 63 Fax: +55--11 / 64 11 15 65
Cidade Satélite, Guarulhos E-- Mail: info@kuka--roboter.com.br
CEP 07224 240
São Paulo, SP Brasil

China
KUKA Automation Equipment Tel.: +86--21 / 58 66 51 39
(Shanghai) Co.,Ltd. Fax: +86--21 / 58 66 75 71
Part B, Ground Floor, No. 211, Fu te Road (North) E-- Mail: franz.poeckl@kuka--sha.com.cn
Waigaoqiao Free Trade Zone
Shanghai 200 131, China

France
KUKA Automatisme + Robotique SAS Tel.: +33--1 / 69 31 66 00
Techvallée Fax: +33--1 / 69 31 66 01
6, Avenue du Parc E-- Mail: commercial@kuka.fr
F -- 91140 Villebon s/Yvette Internet: http://www.kuka.fr

Germany Tel.: 0190 / 88 19 26

Service--Stützpunkt:
KUKA Roboter GmbH Fax: +49--821 / 797 -- 10 87
Zugspitzstraße 140 E-- Mail: hotline@kuka--roboter.de
D -- 86165 Augsburg Internet:: www.kuka--roboter.de

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 3 Service requests (continued)

India
Sieflex Robotics (Agency) Tel.: +91 (44) / 624 14 12
54, Industrial Estate, Ambattur Fax: +91 (44) / 26 25 87 57
Madras -- 600 058 E-- Mail: sieflexrobotics@yahoo.com
India

Hungary
KUKA Robotics Hungaria Kft. Tel.: +36--24 / 50 16 09
2335 Taksony Fax: +36--24 / 47 70 31
Fö út 140 E-- Mail: info@kuka--robotics.hu

Italy
KUKA Roboter Italia S.p.A. Tel.: +39--0 11 / 959 50 13
Via Pavia 9/a -- int. 6 Fax: +39--0 11 / 959 51 41
I -- 10098 Rivoli (TO) E-- Mail: kuka@kuka.it
Internet: http://www.kuka.it

Korea
KUKA Robot Automation Korea, Co. Ltd. Tel.: +82--31 / 496--99 37
4 Ba 806 Sihwa Ind. Complex / 496--99 38
Sung--Gok Dong, Ansan City Fax: +82--31 / 496--99 39
Kyunggi Do, 425--110 Korea E-- Mail: info@kukakorea.com

Malaysia
KUKA Robot Automation Sdn Bhd Tel: +60--3 / 80 61--06 13
South East Asia Regional Office / 80 61--06 14
24, Jalan TPP 1/10, Taman Industri Puchong Fax: +60--3 / 80 61--73 86
47100 Puchong, Selangor, Malaysia E-- Mail: info@kuka.com.my

Mexico
KUKA de Mexico S. de R.L. de C.V. Tel.: +52--55 / 52 03 84 07
Rio San Joaquin #339, Local 5 Fax: +52--55 / 52 03 81 48
Colonia Pensil Sur E-- Mail: info@kuka.com.mx
C.P. 11490 Mexico D.F.

Norway
KUKA Svetsanläggningar + Tel.: +47--61 / 13 34 22
Robotar AB Avd. Norway Fax: +47--61 / 18 62 00
Hadelandsveien 2 E-- Mail: geir.ulsrud@kuka.no
Postbox 17
NO--2801 Gjövik, Norway

Portugal
KUKA Sistemas de Automatización S.A. Tel.: +351--21 / 238 80 83
Urbanização do Vale do Alecrim, Lote 115--B Fax: +351--21 / 238 80 86
2950 Palmela, Portugal E-- Mail: kuka@mail.telepac.pt

Russia Tel.: +7--84 82 / 39 12 49

KUKA-- VAZ Engineering
445633 Togliatti / 37 05 64
Jushnoje Chaussee, 36 VAZ, PTO Fax: +7--84 82 / 73 67 30
Tx: +7--21 41 06
E-- Mail: y.klychkov@vaz.ru

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 Introduction

South Africa
Jendamark Automation LTD (Agency) Tel.: +27--41 / 391 47 00
76a York Road, North End Fax: +27--41 / 373 38 69
Port Elizabeth 6000 Internet: http://www.jendamark.co.za
South Africa

Spain
KUKA Sistemas de Automatización, S.A. Tel.: +34--93 / 814 23 53
Pol. Industrial Fax: +34--93 / 814 29 50
Torrent de la Pastera E-- Mail: comercial@kuka--e.com
Carrer del Bages s/n Internet: http://www.kuka--e.com
E -- 08800 Vilanova i La Geltrú (Barcelona)

Sweden
KUKA Svetsanläggningar + Robotar AB Tel.: +46--31 / 72 66 200
A. Odhners gata 15 Fax: +46--31 / 72 66 201
S--42130 Västra Frölunda E-- Mail: info@kuka.se

Switzerland
KUKA Roboter Schweiz AG Tel.: +41--17 / 44 90 90
Riedstrasse 7 Fax: +41--17 / 44 90 91
CH--8953 Dietikon E-- Mail: info@kuka--roboter.ch
Internet: http://www.kuka--roboter.ch

Taiwan
KUKA Robot Automation Taiwan Co., Ltd. Tel.: +886--3 / 437 19 02
136, Section 2, Fax: +886--3 / 283 00 23
Huanjung E. Road E-- Mail: info@kuka.com.tw
Jungli City, Taoyuan, Taiwan 320 Internet: www.kuka.com.tw

Thailand
KUKA Robot Automation (M)Sdn Bhd Tel.: +66--2 / 750 27 37
Thailand Office Fax: +66--2 / 661 23 55
c/o Maccall System Co. Ltd. E-- Mail: atika@ji--net.com
49/9--10 Soi Kingkaew 30, Kingkaew Road Internet: http://www.kuka--roboter.de
Tt. Rachatheva, A. Bangpli
Samutprakarn, 10540 Thailand

U.K.
KUKA Welding Systems + Robot Ltd. Tel.: +44--121 / 58 50 800
Hereward Rise, Halesowen Fax: +44--121 / 58 50 900
UK--West Midlands B62 8AN GB E-- Mail: sales@kuka.co.uk

U.S.A.
KUKA Robotics Corp. Tel.: +1--866 / 873 58 52
22500 Key Drive Fax: +1--(586) / 569 20 87
Clinton Township E-- Mail: info@kukarobotics.com
Michigan 48 036 USA Internet: http://www.kukarobotics.com

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 Index

A I
Application, 9 Icons, 6, 7
Example, 7
Info, 7
Modifications or entries not permissible, 7
B Modifications or entries required, 7
Bold, 8 Note, 7
See also, 7
Tip, 7
Identification plate
C
KR C3, 11
Caution, 6 Linear unit, 10
Ch., 8 Robot, 10
Controller, 9 Identification plates, 10
Info, 7
Controller serial number, 9
Italics, 8
Cross reference
Ch., 8
K
HB, 8
KUKA Robot Group, 5
MC, 8
Section, 8
Cross references, 8 L
Linear unit, 9

D M
Description of the problem, 9 Material damage, 6
MC, 8
Device type, 10
Memory dump, 9
Menu key, 8
Modifications or entries not permissible, 7
E Modifications or entries required, 7
Example, 7
External axes, 9 N
Note, 7

F P
Foreword, 5 Personal injury, 6
Frequency of the fault, 9 Program key, 8

Q
H Quotation marks, 8

HB, 8
Help with service requests, 5 R
How to use this documentation, 6 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