Page 243 - CITS - Welder - Trade Theory

WELDER - CITS

a Robot arm of a KUKA robot Manipulator
b KR C4 robot controller
c KUKA smartPAD/ Teach pendant
a Robot arm of a KUKA robot/ Manipulator
1 The manipulator is the actual robot arm. It consists of a number of moving links (Axes) that are linked together
to form a “kinematic chain”.
2 The individual axes are moved by means of targeted actuation of servomotors. These are linked to the
individual components of the manipulator via reduction gears
• Base frame
• Rotating column
• Counterbalancing system
• Link arm

• Arm
• Wrist
(The components of a robot arm consist primarily of cast aluminium and steel. In isolated cases, carbon-fiber
components are also used.)

b KR C4 robot controller
The manipulator is moved by means of servomotors controlled by the (V)KR C4 controller
Robot control (path planning): control of six robot axes plus up to six external axes.
Optional sequence control: integrated Soft PLC KUKA.PLC in accordance with

a Safety controller Robot controller
b Motion control
c Communication options via bus systems
d Programmable logic controllers (PLC)
e Additional controllers

f Sensors and actuators
g Communication options via network:
h Host computer
i Additional controllers
c KUKA smartPAD

Touch screen (touch-sensitive user interface) for operation by hand or using the integrated stylus
Large display in portrait format
a KUKA menu key
b +/- keys that can be used flexibly (e.g. as jog keys)
c Keys for operator control of the technology packages

d Program execution keys (Stop/Backwards/Forwards)
e Key for displaying the keypad
f Key switch for changing the operating mode
g Emergerncy stop button

h Space Mouse

230

CITS : C G & M - Welder - Lesson 77 - 82