kuka.hmi zenon 6.51 2 -...

KUKA System Technology

KUKA.HMI Zenon 6.51 2.1

For KUKA System Software 8.2 and 8.3

KUKA Roboter GmbH

Issued: 30.08.2013

Version: KST HMI Zenon 6.51 2.1 V1


2 / 43 Issued: 30.08.2013 Version: KST HMI Zenon 6.51 2.1 V1

© Copyright 2013

KUKA Roboter GmbH

Zugspitzstraße 140

D-86165 Augsburg

Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH.

Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work.

We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, how-ever, and necessary corrections will be incorporated in the subsequent edition.

Subject to technical alterations without an effect on the function.

Translation of the original documentation

KIM-PS5-DOC

Publication: Pub KST HMI Zenon 6.51 2.1 (PDF) en

Book structure: KST HMI Zenon 6.51 2.1 V1.1

Version: KST HMI Zenon 6.51 2.1 V1

Contents

Contents

1 Introduction .................................................................................................. 5

1.1 Target group .............................................................................................................. 5

1.2 Industrial robot documentation ................................................................................... 5

1.3 Representation of warnings and notes ...................................................................... 5

1.4 Trademarks ................................................................................................................ 6

1.5 Terms used ................................................................................................................ 6

2 Product description ..................................................................................... 7

2.1 Overview of KUKA.HMI Zenon .................................................................................. 7

3 Safety ............................................................................................................ 9

3.1 Safety instructions ...................................................................................................... 9

3.2 Safety measures for “single point of control” ............................................................. 9

4 Installation ................................................................................................... 13

4.1 System requirements for KUKA.HMI Zenon DEV ...................................................... 13

4.2 System requirements for KUKA.HMI Zenon RT ........................................................ 13

4.3 Installing or updating KUKA.HMI Zenon .................................................................... 13

4.3.1 Installing KUKA.HMI Zenon DEV .......................................................................... 13

4.3.2 Installing or updating KUKA.HMI Zenon RT ......................................................... 13

4.4 Uninstalling KUKA.HMI Zenon ................................................................................... 14

4.4.1 Uninstalling KUKA.HMI Zenon DEV ..................................................................... 14

4.4.2 Uninstalling KUKA.HMI Zenon RT ........................................................................ 14

5 Operation ...................................................................................................... 17

5.1 Instructions for operation ........................................................................................... 17

6 Configuration ............................................................................................... 19

6.1 Licensing KUKA.HMI Zenon DEV .............................................................................. 19

6.2 Displaying KUKA.HMI Zenon RT ............................................................................... 19

6.3 Licensing expansion packages .................................................................................. 19

6.3.1 Licensing expansion packages for KUKA.HMI Zenon DEV 1024 ......................... 19

6.3.2 Licensing expansion packages for KUKA.HMI Zenon RT 1024 ........................... 20

6.4 Connecting KUKA.HMI Zenon to a driver .................................................................. 21

6.4.1 Connecting to KUKA.OPC Server ........................................................................ 21

6.4.2 Connecting to KUKA.PLC ProConOS .................................................................. 23

6.4.3 Connecting to the KUKA direct driver ................................................................... 25

7 Programming ............................................................................................... 29

7.1 Note on programming ................................................................................................ 29

8 Troubleshooting .......................................................................................... 31

8.1 Note on troubleshooting ............................................................................................. 31

9 KUKA Service .............................................................................................. 33

9.1 Requesting support .................................................................................................... 33

9.2 KUKA Customer Support ........................................................................................... 33

Index ............................................................................................................. 41

3 / 43Issued: 30.08.2013 Version: KST HMI Zenon 6.51 2.1 V1

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Issued: 30.08.2013 Version: KST HMI Zenon 6.51 2.1 V1

1 Introduction

1 Introduction

1.1 Target group

This documentation is aimed at users with the following knowledge and skills:

Knowledge of the robot controller system

Advanced KRL programming skills

HMI programming skills

PLC skills

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

Documentation for the manipulator

Documentation for the robot controller

Operating and programming instructions for the control software

Instructions for options and accessories

Parts catalog on storage medium

Each of these sets of instructions is a separate document.

1.3 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions:

For optimal use of our products, we recommend that our customers take part in a course of training at KUKA College. Information about the training program can be found at www.kuka.com or can be ob-

tained directly from our subsidiaries.

These warnings mean that it is certain or highly probable that death or severe injuries will occur, if no precautions

are taken.

These warnings mean that death or severe injuries may occur, if no precautions are taken.

These warnings mean that minor injuries may occur, if no precautions are taken.

These warnings mean that damage to property may oc-cur, if no precautions are taken.

These warnings contain references to safety-relevant information or general safety measures. These warnings do not refer to individual hazards or individual pre-

cautionary measures.

Procedures marked with this warning must be followed exactly.


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Notes These hints serve to make your work easier or contain references to further information.

1.4 Trademarks

Zenon is a trademark of Ing. Punzenberger COPA-DATA GmbH.

ProConOS is a trademark of KW-Software GmbH.

OPC is a trademark of the OPC Foundation.

Windows is a trademark of Microsoft Corporation.

1.5 Terms used

Tip to make your work easier or reference to further information.

Term Description

RT Runtime

Runtime environment on the robot controller

DEV Development

Development environment on a PC or laptop for configuring and programming the runtime environ-ment.

Dongle Copy protection device

KUKA smartHMI Name of the graphical user interface for the (V)KR C4 robot controller

MK Media Kit

RM Recipe Group Manager

Recipes collect setpoint values and commands in a list of specifications that is applied on the runtime environment with a single function call.

SPOC Single Point of Control


2 Product description

2 Product description

2.1 Overview of KUKA.HMI Zenon

KUKA.HMI Zenon is an add-on technology package for creating user-defined user interfaces (UserHMI). KUKA.HMI Zenon consists of the basic packages KUKA.HMI Zenon DEV und KUKA.HMI Zenon RT.

Functions KUKA.HMI Zenon DEV comprises the following function:

Development environment for creating the operator interface on a PC or laptop

KUKA.HMI Zenon RT comprises the following function:

Runtime system as a program running on the robot controller

Areas of appli-

cation

Cell visualization: Selection of programs and parameters, visualization of cell status and statistics

Operator control of machines: Control of actuators, display of sensors

Process control systems: Central control of complex production lines

Options The following expansion packages are available for KUKA.HMI Zenon 6.51 2.1:

KUKA.HMI Zenon 6.51 512 RM RT 2.1:

Runtime version for display of 512 variables incl. RM

KUKA.HMI Zenon 6.51 1024 RT 2.1:

Runtime version for display of 1024 variables

KUKA.HMI Zenon 6.51 1024 RM RT 2.1:

Runtime version for display of 1024 variables incl. RM

KUKA.HMI Zenon 6.51 512 RM DEV 2.1 MK DVD:

Development environment for display of 512 variables incl. RM

KUKA.HMI Zenon 6.51 1024 DEV 2.1 MK DVD:

Development environment for display of 1024 variables

KUKA.HMI Zenon 6.51 1024 RM DEV 2.1 MK DVD:

Development environment for display of 1024 variables incl. RM

The expansion packages must be licensed (>>> 6.1 "Licensing KUKA.HMI Zenon DEV" Page 19).

Further information can be found in the online help, in the chapter “Handbook”, section “Licensing”.


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3 Safety

3 Safety

This documentation contains safety instructions which refer specifically to the software described here.

The fundamental safety information for the industrial robot can be found in the “Safety” chapter of the Operating and Programming Instructions for System In-tegrators or the Operating and Programming Instructions for End Users.

3.1 Safety instructions

3.2 Safety measures for “single point of control”

Overview If certain components in the industrial robot are operated, safety measures must be taken to ensure complete implementation of the principle of “single point of control” (SPOC).

The “Safety” chapter in the operating and programming instructions of the KUKA System Software (KSS) must be observed. Death to per-sons, severe injuries or considerable damage to property may other-

wise result.

KUKA.HMI Zenon can be used to read and write robot controller variables. This allows indirect influence on the

motions and periphery of a robot. In order to avoid resulting personal injury or material damage, the following safety instructions must be observed:

Input of values must be limited in the software by means of permissible ranges of values.

In KUKA.HMI Zenon, the writing of values that could result in material damage or personal injury is only permissible on the following conditions:

For connection with KUKA.PLC ProConOS, the variable bSPOC_UserSafetyActive must be reset.

For connection with KUKA.OPC Server, the variables $USER_SAF and $SPOC_MOTION_ENABLE must be set.

A corresponding check must be made in KUKA.HMI Zenon by the start-up technician.

Values whose modification could cause material damage or personal in-jury must be visually highlighted in the HMI, e.g. by marking them with a colored background or frame.

Access to values whose modification could cause personal injury and material damage must be restricted by defining authorized user groups in KUKA.HMI Zenon.

A risk assessment must be drawn up for outputs that can cause hazards. It must be possible to deactivate these outputs by means of an external safeguard or enabling switch. The deactivation function must be tested during start-up.

The operator control elements used for modifying values must meet the following conditions:

Modification of values is highlighted visually.

Modification of a value must be confirmed by the operator.

This can be done, for example, using a Windows text box. This indicates, by means of a cursor, that inputs have been made. Values are accepted by moving the focus to a different element. The input is canceled by pressing the ESC key.


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Components:

Submit interpreter

PLC

OPC Server

Remote control tools

Tools for configuration of bus systems with online functionality

KUKA.RobotSensorInterface

External keyboard/mouse

Since only the system integrator knows the safe states of actuators in the pe-riphery of the robot controller, it is his task to set these actuators to a safe state, e.g. in the event of an EMERGENCY STOP.

T1, T2 In the test modes, the components referred to above (with the exception of the external keyboard/mouse) may only access the industrial robot if the following signals have the following states:

For connection with KUKA.PLC ProConOS

For connection with KUKA.OPC Server

Submit inter-

preter, PLC

If motions, (e.g. drives or grippers) are controlled with the submit interpreter or the PLC via the I/O system, and if they are not safeguarded by other means, then this control will take effect even in T1 and T2 modes or while an EMER-GENCY STOP is active.

If variables that affect the robot motion (e.g. override) are modified with the submit interpreter or the PLC, this takes effect even in T1 and T2 modes or while an EMERGENCY STOP is active.

Safety measures:

In the test modes, the system variable $OV_PRO must not be written to by the submit interpreter or the PLC.

Do not modify safety-relevant signals and variables (e.g. operating mode, EMERGENCY STOP, safety gate contact) via the submit interpreter or PLC.

If modifications are nonetheless required, all safety-relevant signals and variables must be linked in such a way that they cannot be set to a dan-gerous state by the submit interpreter or PLC.

OPC server,

remote control

tools

These components can be used with write access to modify programs, outputs or other parameters of the robot controller, without this being noticed by any persons located inside the system.

Safety measures:

KUKA stipulates that these components are to be used exclusively for di-agnosis and visualization.

Programs, outputs or other parameters of the robot controller must not be modified using these components.

The implementation of additional safety measures may be required. This must be clarified for each specific application; this is the respon-sibility of the system integrator, programmer or user of the system.

Signal State required for SPOC

bSPOC_UserSafetyActive FALSE

Signal State required for SPOC

$USER_SAF TRUE

$SPOC_MOTION_ENABLE TRUE


3 Safety

If these components are used, outputs that could cause a hazard must be determined in a risk assessment. These outputs must be designed in such a way that they cannot be set without being enabled. This can be done us-ing an external enabling device, for example.

Tools for configu-

ration of bus

systems

If these components have an online functionality, they can be used with write access to modify programs, outputs or other parameters of the robot control-ler, without this being noticed by any persons located inside the system.

WorkVisual from KUKA

Tools from other manufacturers

Safety measures:

In the test modes, programs, outputs or other parameters of the robot con-troller must not be modified using these components.

External

keyboard/mouse

These components can be used to modify programs, outputs or other param-eters of the robot controller, without this being noticed by any persons located inside the system.

Safety measures:

Only use one operator console at each robot controller.

If the KCP is being used for work inside the system, remove any keyboard and mouse from the robot controller beforehand.


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4 Installation

4 Installation

4.1 System requirements for KUKA.HMI Zenon DEV

Hardware Standard PC / laptop

Software Windows XP including SP3, Windows Vista (32-bit / 64-bit) or Windows 7 (32-bit / 64-bit)

4.2 System requirements for KUKA.HMI Zenon RT

Hardware KR C4

Software KUKA System Software 8.2 or 8.3

KUKA.PLC ProConOS 4-1 4.0 or KUKA.OPC Server 4.0

4.3 Installing or updating KUKA.HMI Zenon

Description KUKA.HMI Zenon DEV is installed by means of a DVD on an external computer (offline) and enabled with a dongle (USB). The WibuKey or Co-deMeter software required for dongle protection is automatically installed or updated. The software package SQL Server 2005 Express is also in-stalled.

KUKA.HMI Zenon RT is installed by means of a USB stick on the robot controller. The license number can be found on an adhesive label inside the robot controller.

4.3.1 Installing KUKA.HMI Zenon DEV

Precondition Local administrator rights

Procedure 1. Start the program setup.exe from the DVD.

2. Select the desired language and click on Next.

3. The installation wizard opens. Click on Next.

4. Accept the license agreement and click on Next.

5. Select the directory and click on Next .

6. Click on Install. KUKA.HMI Zenon DEV is installed.

7. Once installation is completed, click on Finish to close the installation wiz-ard.

4.3.2 Installing or updating KUKA.HMI Zenon RT

Precondition “Expert” user group

It is advisable to archive all relevant data before installing or updating a software package.

Further information can be found in the online help, in the chapter “Handbook”, section “Installation and updates”.

KUKA.HMI Zenon DEV cannot be updated. If an older version of KU-KA.HMI Zenon is installed, this must be uninstalled prior to installation of the new version.


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Software on USB stick

Procedure 1. Connect the USB stick to the robot controller or smartPAD.

2. In the main menu, select Start-up > Additional software.

3. Press New software: The entry KUKA.HMI Zenon RT must be displayed in the Name column and drive E:\ or K:\ in the Path column.

If not, press Refresh.

4. If the specified entries are now displayed, continue with step 5.

If not, the drive from which the software is being installed must be config-ured first:

Press the Configuration button. A new window opens.

Select a line in the Installation paths for options area.

Note: If the line already contains a path, this path will be overwritten.

Press Browse. The available drives are displayed.

Select E:\. (If stick connected to the robot controller.)

Or select K:\. (If stick connected to the smartPAD.)

Press Save. The window closes again.

The drive only needs to be configured once and then remains saved for further installations.

5. Select the entry KUKA.HMI Zenon RT and click on Install. Answer the re-quest for confirmation with Yes. The files are copied onto the hard drive.

6. Confirm the reboot prompt with OK.

7. Remove the stick.

8. Reboot the robot controller.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

4.4 Uninstalling KUKA.HMI Zenon

4.4.1 Uninstalling KUKA.HMI Zenon DEV


Procedure Uninstall KUKA.HMI Zenon DEV via the Windows Control Panel.

4.4.2 Uninstalling KUKA.HMI Zenon RT


Recommendation: Always use KUKA sticks. Data may be lost if sticks from other manufacturers are used.

The copying operation is not displayed and may take several minutes due to the quantity of data.

The installation may take several minutes due to the quantity of data.

It is advisable to archive all relevant data before uninstalling a soft-ware package.


4 Installation

Procedure 1. In the main menu, select Start-up > Additional software. All additional programs installed are displayed.

2. Select the entry KUKA.HMI Zenon RT and click on Uninstall. Reply to the request for confirmation with Yes. Uninstallation is prepared.

3. Reboot the robot controller. Uninstallation is resumed and completed.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.


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5 Operation

5 Operation

5.1 Instructions for operation

Further information can be found in the online help, in the chapter “Handbook”, section “Tutorials”.


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6 Configuration

6 Configuration

6.1 Licensing KUKA.HMI Zenon DEV

Description Before start-up, KUKA.HMI Zenon DEV must be enabled by entering a serial number and an activation number. Both numbers can be found on the accom-panying license form.


Procedure 1. Select the menu sequence File > General configuration > License product. The License product window is opened.

2. Enter the serial number of the product in the Serial number box.

3. Enter the activation number in the Activation number box.

4. Confirm the entries made by pressing OK.

6.2 Displaying KUKA.HMI Zenon RT

Description KUKA.HMI Zenon RT offers a special HMI that displays an additional status key.

Procedure 1. In the main menu, select Display > Window > Zenon RT. The HMI Ze-non RT is displayed.

2. Click on Back to KUKA. The KUKA smartHMI is displayed and a status key bar is installed.

3. In the main menu, select Configuration > Status keys > Zenon RT. Ze-non RT is displayed on the first status key.

4. Click on Zenon RT. The HMI Zenon RT is displayed.

6.3 Licensing expansion packages

6.3.1 Licensing expansion packages for KUKA.HMI Zenon DEV 1024

Description Before start-up, KUKA.HMI Zenon 6.51 2.1 1024 DEV and KUKA.HMI Zenon 6.51 2.1 1024 RM DEV must be licensed by entering a serial number (>>> 6.1 "Licensing KUKA.HMI Zenon DEV" ).


Fig. 6-1: HMI Zenon RT


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6.3.2 Licensing expansion packages for KUKA.HMI Zenon RT 1024

Description Before start-up, KUKA.HMI Zenon 6.51 2.1 1024 RT and KUKA.HMI Zenon 6.51 2.1 1024 RM RT must be activated by entering a serial number. The li-cense sticker must be attached to the inside of the robot controller.


Procedure 1. Start KUKA.HMI Zenon 6.51 2.1 RT.

2. Select the menu sequence Options > Project manager. The Project Manager window is opened.

3. Select KUKA_STARTPIC (Start project) under “Workspace” in the proj-ect tree.

4. Select the menu sequence Options > Properties window. The Proper-ties KUKA_STARTPIC window is opened.

5. In the General area, select the Remote transport box by pressing the corresponding button. The Project settings window opens.

6. In the Transport medium box in the Connection area on the Remote transport tab, select the value TCP/IP and enter the IP address of the tar-get controller in the IP address box.


8. Select the menu sequence Options > Toolbars > Remote transport. Es-tablish the connection by pressing the Remote transport button.

9. The Establish connection window is opened. In the Options area, acti-vate the Display remote licensing check box.

Fig. 6-2: “Project Manager” window

Fig. 6-3: “Project settings” window

Fig. 6-4: “Remote transport” button


6 Configuration

10. Confirm with OK. The License remote product window is opened.

11. Enter the serial number of the product in the Serial number box.

12. Enter the activation number in the Activation number box.


6.4 Connecting KUKA.HMI Zenon to a driver

Overview KUKA.HMI Zenon can be connected to the following drivers:

KUKA.OPC Server

(>>> 6.4.1 "Connecting to KUKA.OPC Server" )

KUKA.PLC ProConOS

(>>> 6.4.2 "Connecting to KUKA.PLC ProConOS" Page 23)

KUKA direct driver

(>>> 6.4.3 "Connecting to the KUKA direct driver" Page 25)

6.4.1 Connecting to KUKA.OPC Server


Procedure 1. Select the menu sequence Options > Project manager. The “Project Manager” window is opened.

2. In the project tree, select the path Workspace\KUKA_STARTPIC\Vari-ables\Driver.

Fig. 6-5: “Establish connection” window



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3. Right-click and select New driver… from the context menu. The Defini-tion of driver window is opened.

4. In the Available drivers area in the project tree, select the path OPC\OPC Client V2-0 driver and confirm with OK. The Configuration window is opened.

5. Enter the name KUKASrvr.DA in the OPC - Servername box on the OPC tab and confirm with OK.

6. In the project tree, select the path Workspace\KUKA_STARTPIC\Vari-ables.

7. Right-click and select New variable… from the context menu. The Create variable window is opened.


Fig. 6-7: “Configuration” window


6 Configuration

8. In the Settings area, enter the name in the Name box. The name is made up of the name of the group and the name of the variable, separated by a dot (e.g. RobotVar.COUNTER).

9. Select the driver OPC2CLI322 – OPC Clinet V2-0 in the Driver box.

10. Select the corresponding type in the Data type box.

11. Click on Finish. The configuration is transferred.

12. Repeat steps 6 and 11 for all the variables that are to be created.

6.4.2 Connecting to KUKA.PLC ProConOS



Fig. 6-8: “Create variable” window

The data type INT of the robot controller corresponds to the data type DINT in KUKA.HMI Zenon. All other data types have identical names.


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3. Right-click and select New driver… from the context menu. The Defini-tion of driver window is opened.

4. In the Available drivers area, select the path KW-Software\Phönix Con-tact driver and confirm with OK. The Configuration window is opened.

5. On the Conn. TCP/IP tab, click on New. The Edit connection area is ac-tivated.

6. Enter the IP address 172.11.13.2 of the KUKA Line Interface of the robot controller in the IP address box and click on Save.

7. Confirm the entries made by pressing OK. A new driver with the name De-faultname is displayed in the Connections area.

8. Right-click on the new driver and select Import variables from drivers from the context menu. The Select a PLC window is opened.




6 Configuration

9. Click on the created network connection and activate the PLC browsing radio button. The Select Variable window is opened.

10. Select the required OPC variables and click on Add.

11. Click on OK. The configuration is accepted.

6.4.3 Connecting to the KUKA direct driver




3. Right-click and select New driver… from the context menu. The Defini-tion of driver... window is opened.

4. In the Available drivers area, select the path KUKA\KUKA Direkttreiber für KRC4 and confirm with OK. The Configuration window is opened.

Fig. 6-11: “Select a PLC” window



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5. Click on OK.

6. In the project tree, select the path Workspace\KUKA_STARTPIC\Vari-ables.

7. Right-click and select New variable… from the context menu. The Create variable window is opened.

8. In the Settings area, enter the name in the Name box. The name is either a $ variable or a manually created variable, e.g. from the config.dat file.


Fig. 6-14: “Create variable” window


6 Configuration

9. In the Driver box, select the driver KUKA32 – KUKA Direkttreiber für KR C4.

10. In the Driver object type box, select the object type PLC marker.

11. In the Datatype box, select the desired data type.

12. Click on Finish. The configuration is accepted.

All variables can be displayed which are available in the variable dis-play on the KUKA smartHMI. It is also possible to display local vari-ables. For this, the complete program path must be entered. These

variables only have a value if the corresponding program is selected.


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7 Programming

7 Programming

7.1 Note on programming

Further information can be found in the online help, in the chapter “Handbook”, section “Tutorials”.


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8 Troubleshooting

8 Troubleshooting

8.1 Note on troubleshooting

Further information can be found in the online help, in the chapter “Handbook”, section “Diagnostic viewer”.


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9 KUKA Service

9 KUKA Service

9.1 Requesting support

Introduction This documentation provides information on operation and operator control, and provides assistance with troubleshooting. For further assistance, please contact your local KUKA subsidiary.

Information The following information is required for processing a support request:

Model and serial number of the manipulator

Model and serial number of the controller

Model and serial number of the linear unit (if present)

Model and serial number of the energy supply system (if present)

Version of the control software

Optional software or modifications

Archive of the software

Application used

External axes used

Description of the problem, duration and frequency of the fault

9.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20

Parque Industrial

2400 San Francisco (CBA)

Argentina

Tel. +54 3564 421033

Fax +54 3564 428877

[email protected]

Australia Headland Machinery Pty. Ltd.

Victoria (Head Office & Showroom)

95 Highbury Road

Burwood

Victoria 31 25

Australia

Tel. +61 3 9244-3500

Fax +61 3 9244-3501

[email protected]

www.headland.com.au


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Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031

3530 Houthalen

Belgium

Tel. +32 11 516160

Fax +32 11 526794

[email protected]

www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171

Bloco 5 - Galpões 51/52

Bairro Assunção

CEP 09861-7630 São Bernardo do Campo - SP

Brazil

Tel. +55 11 4942-8299

Fax +55 11 2201-7883

[email protected]

www.kuka-roboter.com.br

Chile Robotec S.A. (Agency)

Santiago de Chile

Chile

Tel. +56 2 331-5951

Fax +56 2 331-5952

[email protected]

www.robotec.cl

China KUKA Robotics China Co.,Ltd.

Songjiang Industrial Zone

No. 388 Minshen Road

201612 Shanghai

China

Tel. +86 21 6787-1888

Fax +86 21 6787-1803

www.kuka-robotics.cn

Germany KUKA Roboter GmbH

Zugspitzstr. 140

86165 Augsburg

Germany

Tel. +49 821 797-4000

Fax +49 821 797-1616

[email protected]

www.kuka-roboter.de


9 KUKA Service

France KUKA Automatisme + Robotique SAS

Techvallée

6, Avenue du Parc

91140 Villebon S/Yvette

France

Tel. +33 1 6931660-0

Fax +33 1 6931660-1

[email protected]

www.kuka.fr

India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,

Level 12, Building No. - 9B

DLF Cyber City Phase III

122 002 Gurgaon

Haryana

India

Tel. +91 124 4635774

Fax +91 124 4635773

[email protected]

www.kuka.in

Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6

10098 Rivoli (TO)

Italy

Tel. +39 011 959-5013

Fax +39 011 959-5141

[email protected]

www.kuka.it

Japan KUKA Robotics Japan K.K.

YBP Technical Center

134 Godo-cho, Hodogaya-ku

Yokohama, Kanagawa

240 0005

Japan

Tel. +81 45 744 7691

Fax +81 45 744 7696

[email protected]

Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4

Mississauga

L5W 0A1

Ontario

Canada

Tel. +1 905 670-8600

Fax +1 905 670-8604

[email protected]

www.kuka-robotics.com/canada


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Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark

1271-11 Sa 3-dong, Sangnok-gu

Ansan City, Gyeonggi Do

426-901

Korea

Tel. +82 31 501-1451

Fax +82 31 501-1461

[email protected]

Malaysia KUKA Robot Automation Sdn Bhd

South East Asia Regional Office

No. 24, Jalan TPP 1/10

Taman Industri Puchong

47100 Puchong

Selangor

Malaysia

Tel. +60 3 8061-0613 or -0614

Fax +60 3 8061-7386

[email protected]

Mexico KUKA de México S. de R.L. de C.V.

Progreso #8

Col. Centro Industrial Puente de Vigas

Tlalnepantla de Baz

54020 Estado de México

Mexico

Tel. +52 55 5203-8407

Fax +52 55 5203-8148

[email protected]

www.kuka-robotics.com/mexico

Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5

2867 Hov

Norway

Tel. +47 61 18 91 30

Fax +47 61 18 62 00

[email protected]

Austria KUKA Roboter Austria GmbH

Vertriebsbüro Österreich

Regensburger Strasse 9/1

4020 Linz

Austria

Tel. +43 732 784752

Fax +43 732 793880

[email protected]

www.kuka-roboter.at


9 KUKA Service

Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością

Oddział w Polsce

Ul. Porcelanowa 10

40-246 Katowice

Poland

Tel. +48 327 30 32 13 or -14

Fax +48 327 30 32 26

[email protected]

Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50

Armazém 04

2910 011 Setúbal

Portugal

Tel. +351 265 729780

Fax +351 265 729782

[email protected]

Russia OOO KUKA Robotics Rus

Webnaja ul. 8A

107143 Moskau

Russia

Tel. +7 495 781-31-20

Fax +7 495 781-31-19

kuka-robotics.ru

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15

421 30 Västra Frölunda

Sweden

Tel. +46 31 7266-200

Fax +46 31 7266-201

[email protected]

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9

5432 Neuenhof

Switzerland

Tel. +41 44 74490-90

Fax +41 44 74490-91

[email protected]

www.kuka-roboter.ch


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Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial

Torrent de la Pastera

Carrer del Bages s/n

08800 Vilanova i la Geltrú (Barcelona)

Spain

Tel. +34 93 8142-353

Fax +34 93 8142-950

[email protected]

www.kuka-e.com

South Africa Jendamark Automation LTD (Agency)

76a York Road

North End

6000 Port Elizabeth

South Africa

Tel. +27 41 391 4700

Fax +27 41 373 3869

www.jendamark.co.za

Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road

Jungli City, Taoyuan County 320

Taiwan, R. O. C.

Tel. +886 3 4331988

Fax +886 3 4331948

[email protected]

www.kuka.com.tw

Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office

c/o Maccall System Co. Ltd.

49/9-10 Soi Kingkaew 30 Kingkaew Road

Tt. Rachatheva, A. Bangpli

Samutprakarn

10540 Thailand

Tel. +66 2 7502737

Fax +66 2 6612355

[email protected]

www.kuka-roboter.de

Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei

Sezemická 2757/2

193 00 Praha

Horní Počernice

Czech Republic

Tel. +420 22 62 12 27 2

Fax +420 22 62 12 27 0

[email protected]


9 KUKA Service

Hungary KUKA Robotics Hungaria Kft.

Fö út 140

2335 Taksony

Hungary

Tel. +36 24 501609

Fax +36 24 477031

[email protected]

USA KUKA Robotics Corporation

51870 Shelby Parkway

Shelby Township

48315-1787

Michigan

USA

Tel. +1 866 873-5852

Fax +1 866 329-5852

[email protected]

www.kukarobotics.com

UK KUKA Automation + Robotics

Hereward Rise

Halesowen

B62 8AN

UK

Tel. +44 121 585-0800

Fax +44 121 585-0900

[email protected]


40 / 43



Index

Index

CConfiguration 19Connecting to KUKA.OPC Server 21Connecting to KUKA.PLC ProConOS 23Connecting to the KUKA direct driver 25

DDEV 6Display, KUKA.HMI Zenon RT 19Documentation, industrial robot 5Dongle 6Driver, connection 21

HHardware 13

IInstallation 13Installation, KUKA.HMI Zenon DEV 13Installation, KUKA.HMI Zenon RT 13Introduction 5

KKUKA Customer Support 33KUKA smartHMI 6

LLicensing, expansion packages 19Licensing, KUKA.HMI Zenon DEV 19

MMK 6

OOperation 17Operation, instructions 17Overview, KUKA.HMI Zenon 7

PProduct description 7Programming 29Programming, note 29

RRM 6RT 6

SSafety 9Safety instructions 5Service, KUKA Roboter 33Single point of control 9smartHMI 6Software 13SPOC 6, 9Support request 33System requirements, HMI Zenon DEV 13System requirements, HMI Zenon RT 13

TTarget group 5Terms used 6Trademarks 6Training 5Troubleshooting 31Troubleshooting, note 31

UUninstallation, KUKA.HMI Zenon DEV 14Uninstallation, KUKA.HMI Zenon RT 14Update, KUKA.HMI Zenon RT 13

WWarnings 5


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