Kuka KRC4 User manual

KUKA KRC4 Quick Reference
1
2
3
4
5
6
7
8
9
10
11

Main screen
1 –Program folder
2 –Drives On/Off
3 –Cancel / Reset Program
4 –Run mode display T1, T2, Auto, Ext
5 –Jogging speed control
6 –Program motion control (Go, Motion, Single Step)
7 –Current Tool/Base setting
8 –Jogging step size
9 –Main Menu
10- Space Mouse Jog mode (World, Base, Tool, Axis)
11- Keys Jog Mode (World, Base, Tool, Axis)

JOG CONTROL - KEYS
With the pendant Dead Man’s
Switch depressed, and the motor
drives on, these keys are used to jog
the robot. Robot behaviour depends
on the jog mode (e.g. World, Base,
Axis etc. see button 11 above.
Here the robot is in Axis mode and
the jog switches move axes 1-6
independently

Running a program
Run a program:
Highlight program in list
Press SELECT
Press R button
Press RESET PROGRAM
Hold Dead man’s switch
Press (Run FWD)
Exit a program:
Press R button
Press CANCEL PROGRAM

Change operating mode T1 -> T2 -> AUTOMATIC -> EXT
Turn key to ‘LOCK’
Select operating mode
Turn key back to ‘UNLOCK’
*IMPORTANT –IN AUTOMATIC THE ROBOT RUNS AT FULL SPEED!
NEVER RUN WITH PERSONNEL INSIDE THE CELL!