#00 Kuka KR 30 Industrial Robot Arm

• Kuka KR 30/2

• Literature inside enclosure door
• Outside pendant enclosure
• Inside pendant enclosure
• Arm nameplate
• Arm motors (axes A1,A2,A3)
• Wrist motors (axes A4,A5,A6)
• User interface
• Apparent robot name?
• K921 Safety Circuit Diagram

• Needs Repair
• Needs to be mounted
• Needs safety cage/walls
• Automatic mode proven
• Wire safety switches into cabinet

• MattN

• West Room

• An admirer

2013-06-15 - Arrived at Makerspace

2013-06-19: MattN

• Continuity tested on data cables between terminations at motors and data port box on robot.
• Power requirements determined, discussed with Tom Gr.
• PC booted up standalone/separately from control cabinet. Special thanks to Tony and Paul for this one.
• Connections for data/power/pendant noted on control cabinet
• need keyboard/mouse/monitor
• beginning formal discussion about physical location, I will submit a CAD drawing to BOD for tomorrow's meeting
• *Matt J. has a possible consultant available

• Internal connectors for control cables on the machine board are arranged in descending order from 8 to 1 (8 and 7 are unused on this machine)
• Software: Kuka KR C1 version 3.2.6 SP03 with kernel version KS V3.67
• Software to investigate (for milling)
  • Powermill by Delcam - http://delcam.com/
  • Irbcam = http://www.irbcam.com/
  • Mastercam + Robotmaster - http://mastercam.com/ and http://robotmaster.com/
  • Sprutcam generates toolpaths and robot code; tested and proven
  • Best to do designs natively in AutoDesk Inventor

• MattN
• Paul S.
• Steve P.
• Joe R.

• Clean the Kuka
• Mount the Kuka
• Name the Kuka
• Build a cage
• Wire in E-stops/door switch

• Tested each data cable for shorts and opens
• No shorts and all pins measured 1-2 ohms
• All cables use the same pinout
• Cable for axis 2 has paint on the inside of the connector, but doesn't look like it affects operation
• Electronics cabinet has been completely powered up and appears functional. Need to override “fence open” signal
• T1, T2 modes work with deadman switches
• Automatic mode works with jumpered plug

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