The power on wiring process of KUKA KR C5 control cabinet can be divided into the following main steps:
Inspection and preparation
Check the appearance of the control cabinet and robot:
Open the control cabinet door and check if the internal components are intact, without damage or looseness.
There are two batteries on the cabinet door, and one of the two plugs of the battery above is disconnected and needs to be connected. Please pay attention to the labeling of the wiring.
Prepare wiring tools and materials:
Ensure that the required wiring tools (such as screwdrivers, wire strippers, crimping tools, etc.) and materials (such as cables, clamps, plastic posts, etc.) are complete.
Wiring steps
Connect the battery:
Connect the disconnect plug of the upper battery according to the wiring label.
Internal wiring of control cabinet:
According to the "KR C5 Control Cabinet Interface Wiring Techniques" or other relevant documents, connect the various interfaces inside the control cabinet.
For cables with shielding layers, the shielding layer needs to be crimped to ensure conductivity between the shielding layer and the shell.
Select a hose clamp that matches the cable to ensure sealing, and fill the unused holes with plastic columns.
When using zip ties and nylon buckles to secure multi-core cables, it is important to ensure that no single cable is subjected to stress.
If there are multiple controllers in a control cabinet, each floor will have a grounding terminal connected to the robot.
External device wiring:
Connect external devices (such as motors, sensors, etc.) to the corresponding interfaces of the control cabinet as needed.
Pay special attention to the wiring of motor interfaces (such as XD20.1 to XD20.7) to ensure proper connection between the motor and the control cabinet.
Inspection and Testing
Check the wiring:
Carefully check all wiring for firmness, correctness, and no looseness or incorrect connections.
Pre power check:
Close the control cabinet door.
Check if the voltage of each power supply line in the control cabinet is within the range of 400V ± 10% (voltage may vary depending on the configuration).
Turn on the main power:
After confirming that the voltage is normal, turn on the main power switch.
Check the movements of each axis of the robot:
Using the teaching pendant, follow the path "put into operation>after-sales service>put into operation mode" (ensuring that the XG58 plug is connected and inserted) to enter the trial operation mode.
Move the A1-A6 axes and confirm that the robot's movements are normal.
Fault handling and configuration
Handling alarms and prompts:
If an alarm or prompt message is encountered during the power on process, follow the corresponding steps to handle it.
For example, if "RDC memory and control system are inconsistent" is displayed, it is necessary to confirm and synchronize the safety configuration between the robot (RDC) and the robot controller.
System configuration:
Perform necessary system configuration based on the version and requirements of the system software.
Wait for the system configuration to be completed before proceeding with subsequent operations.
matters needing attention
Safe operation:
During the entire process of power on wiring, it is essential to follow safety operating procedures to prevent dangerous situations such as electric shock or short circuit.
Professional guidance:
If you are not familiar with the wiring operation of the KUKA KR C5 control cabinet, it is recommended to seek guidance or training from professionals.
document Record:
During the wiring process, it is recommended to record each step and wiring situation in detail for subsequent maintenance and troubleshooting.