The

Industrial Robot

Monash University Malaysia

The Components of a Robot

Manipulator

KCP
Control cabinet

Monash University Sunway Campus

All robot axes under intuitive control:

with the 6D mouse
KUKA robot
KR 125

KUKA robot controller

KR C1

6D mouse
KUKA control panel
KCP

Monash University Sunway Campus

Multifunctional: The KUKA Control Panel

Keylock switch for mode selection
ON/OFF switch for drives
Emergency Stop pushbutton
Large color display with
graphics capabilities
Softkeys located around
the display
Hardkeys for
program and
display control

6D mouse

Numeric cluster, keyboard, cursor keys with Enter key

Monash University Sunway Campus

The Robot Controller

Monash University Sunway Campus

Swing frame
Disk drive

Mouse
port

CD-ROM
drive

POWER
ON LED
Printer
port
Safety logic

Cooling the control cabinet

Please ensure that the fan motors are rotating the right way

Front view: internal and external cooling

circuit

Side view: external cooling circuit

1 Internal cooling circuit

4 External cooling circuit

2 Internal cooling circuit fan

5 External cooling circuit fan

3 Lateral heat exchanger

6 Rear heat exchanger

Overview of controller hardware

Parallel interface
Watchdog, CAN bus,
Ethernet, temperature
monitoring, KCP
keyboard, 16 inputs,
20 outputs

Position control,
speed control,
commutation

Motor cable
Control elements
Display Keyboard
Ethernet

Motors with
resolvers

Control cable (serial)

actual values for all axes +
motor temperature

Control Block Diagram

Mains
3 x 400V

Power supply

Auxiliary
supply 27V

Intermediate circuit voltage

600V (540V-650V)

Position
command
value
Current

Error
logic

Digital
command
Servo
value
Current
Electronics
controller
(DSEAT)
Position
actual value

Amplifier
output stage

R
Resolver Digital Converter
(RDW)

Software concept
Operating
system

Drive

Kernel
system
VxWorks

Windows 95
KUKABOF

Kukaftpd

Only during
initialization

Editor
CROSS

The two systems

communicate with one
another via TCP/IP protocol

Robot
programs

Controller
programs