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WORKBOOK DO SEMINÁRIO
MANUTENÇÃO ELÉTRICA
Workbook SE 01.06.00
Copyright
Copyright
© Copyright 2006
Este documento ou extratos do mesmo não pode ser reproduzido ou disponibilizado a terceiros sem autorização expressa do editor.
Outras funções de comando não descritas nesta documentação poderão ser postas em prática. No entanto, não está previsto
qualquer tipo de reclamação quanto a estas funções em caso de nova remessa ou de serviço.
Verificamos que o conteúdo do prospecto é compatível como software e como hardware descrito. Porém, não são de excluir exeções,
de forma a que não nos responsabilizamos pela total compatibilidade. Os dados contidos neste prospecto serão verificados
regulamente e as correções necessárias serão incluídas nas próximas edições.
Reservado o direito a alterações técnicas que não influenciem o funcionamento.
KUKA Roboter GmbH não aceita responsabilidade por qualquer erro de informação técnica comunicada oralmente ou escrita nos
cursos de treinamento ou contidos na documentação. Não serão aceitas quaisquer responsabilidades resultantes de danos ou que
acarrete em danos.
Conteúdo
1. Segurança 4
2. Sistema do robô 23
3. Startup 26
4. Unidade computador 35
5. Unidade potência 58
6. Cabeamento do armário 74
7. Painel de conexões 76
8. Manutenção 78
9. Instalação do software 81
10. Software diagnóstico 84
11. Análise de falhas 91
12. Exercícios 98
1. Segurança
Segurança primeiro !
12/2005 1
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Responsabilidades
12/2005 2
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Designação de uso
12/2005 3
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Designação de uso
Operação do sistema do robô com seus limites de uso designados também involve
a contínua observação das instruções de operação com particular referência as
especificações de manutenção.
12/2005 4
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Símbolos de segurança
12/2005 5
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Cada pessoa envolvida com o sistema do robô precisa ter lido e entendido estas
intruções de operação, particularmente o capítulo “Segurança”, tendo atenção
especial para as passagens marcadas com este simbolo de atenção
12/2005 6
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 7
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Não permita que pessoas que serão treinadas ou instruídas ou pessoas que
participaram parcialmente em um treinamento geral a trabalhar com o sistema do
robô sem estarem permanentemente supervisionados por uma pessoa com
experiência.
12/2005 8
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 9
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 10
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 11
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 12
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 13
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 14
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
As três posições das teclas Homem Morto no KUKA Control Panel (KCP)
Homem Morto
Cada uma das teclas Homem Morto podem ser usadas para acionar os
acionamentos nos modos T1 ou T2. É necessário manter a tecla pressionada na
posição intermediária com o propósito de movimentar o robô. Soltando-se a tecla
ou pressionando a completamente acionará uma frenagem orientando a trajetória.
12/2005 15
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
No modo eixo a eixo, todos programas podem ser executados manualmente nos
modos teste com velocidade reduzida. Todavia, a execução do programa somente
é possível enquanto a tecla de “Start” estiver sendo pressionada. Se a tecla “Start”
for solta, o robô parará com frenagem com rampa de desaceleração. O programa
somente poderá ser continuado, pelo pressionamento da tecla “Start” novamente.
Tecla “Start”
12/2005 16
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Segurança do Operador
12/2005 19
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Eixo 2
dispositivo de liberação
12/2005 20
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Etiquetas de segurança
12/2005 21
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Sinal de proibição
Sinal de aviso
Perigo geral
12/2005 22
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Instruções de segurança
O pessoal deve ser instruídos, antes de qualquer trabalho ser começado, no tipo
de trabalho involvido e o que exatamente ele significa assim como qualquer perigo
que possa existir.
O pessoal deve ser instruído oralmente a cada seis meses e escrito a cada dois
anos com relação ao cumprimento das normas de segurança e precauções.
12/2005 23
safety_general_pt.ppt
© Copyright by KUKA Roboter GmbH College
Singularidades
Num sistema de cinemática com 6 eixos, deve ser feita a dinstinção entre 3
posições de singularidades. Estas são; a singularidade por cima, a posição
extendida e a singularidade dos eixos do manípulo. Uma caracteristica da
singularidade é que a transformação reversa não ambígua (conversão das
coordenadas Cartesianas em valores específicos dos eixos) não é possível,
mesmo que os valores de Status e Turn sejam especificados. Pequenas
alterações Cartesianas nas proximidades da singularidade causam grandes
alterações nos ângulos do eixos.
12/2005 1
safety_singularities_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 2
safety_singularities_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 3
safety_singularities_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 4
safety_singularities_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 1
safety_service_pt.ppt
© Copyright by KUKA Roboter GmbH College
Trabalhos nos equipamentos elétricos do robô somente poderão ser realizados por
um eletricista qualificado.
12/2005 2
safety_service_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 3
safety_service_pt.ppt
© Copyright by KUKA Roboter GmbH College
12/2005 4
safety_service_pt.ppt
© Copyright by KUKA Roboter GmbH College
Instalação e operação
Instalação e operação
12/2005 6
safety_service_pt.ppt
© Copyright by KUKA Roboter GmbH College
Instalação e operação
Verifique o sistema do robô pelo menos uma vez por turno de trabalho
procurando defeitos e falhas óbvias.
12/2005 7
safety_service_pt.ppt
© Copyright by KUKA Roboter GmbH College
Diretivas ESD
Por estas razões, não somente módulos novos, mas módulos defeituosos
também, devem ser manuseados muito cuidadosamente com relação a
ESDs.
12/2005 1
safety_esd_pt.ppt
© Copyright by KUKA Roboter GmbH College
ESD directives
20 40 60 80 100
15% 35% Umidade rel. ar /%
Escala de valores de tensão eletrica que
uma pessoa pode carregar. Video: ESD
12/2005 2
safety_esd_pt.ppt
© Copyright by KUKA Roboter GmbH College
ESD directives
12/2005 3
safety_esd_pt.ppt
© Copyright by KUKA Roboter GmbH College
2. Sistema do robô
Control cabinet
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
Make sure that the fan motors turn the right way!
Software concept
Drives
Operator
control Basic system
Windows 95 VxWorks
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 3
Technical Datas
• Typ: KRC1
– Maximum numbers of axes: 6
• Protection classification: IP54
• Ambient temperature during operation:
– without air conditioner: max. 45°C
– with air conditioner : max. 55°C
• Weight approx.: 136kg
• Rated supply voltage: 3x400V-10%
-3x 415V+10%
– Power frequency: 49-61Hz
– Rated connected load: 4kVA
– Mains-side fusing: min. 3x20A
slow-blowing
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 4
3. Startup
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
Serial number
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 2
Transport position
Flange
facing inwards
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 3
Connector panel
KCP
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 5
A5
+ A4
-
- A3
A6
- +
+ + - -
+ +
A1
-
A2
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 6
2. TOOL calibration
3. BASE calibration (if reqd.) RDW
Hard
disk
Saving
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 7
Mastering procedure
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 9
Mastering instruments
Dial gage
EMT
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 10
EMT connection
Gage cartridge
Signal cable
X 32
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 11
1 Reference notch
2 Electronic
measuring tool or
dial gage
3 Measuring pin
4 Gage cartridge
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 12
+ -
Frontsight
Rearsight
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 13
1 2
- Pre-mastering position - EMT tip slides into the mastering
- Red LED off notch
- Both green LEDs on - Lefthand green LED on
- Frontsight and rearsight aligned
+ - + -
Frontsight
Rearsight
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 14
3 4
- Mastering position - Position of the tip of the EMT
- Calibration of position due to braking overtravel
sensing system - No influence on calibration
- Green LEDs change - Righthand green LED on
+ - + -
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 15
4. Unidade computador
Computer Unit
Swing frame
PC power supply
Motherboard
Drives
KUKA-specific hardware
Resolvers
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
COM1
CD-ROM drive
PowerOn LED
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 2
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 3
Floppy disk
drive
CD-ROM drive
PC power
supply
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 4
X961
PC supply
COM2
External supply
for Interbus-
card (optional)
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 5
Computer Unit
Swing frame
PC power supply
Motherboard
Drives
KUKA-specific hardware
Resolvers
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 6
Pentium fan
Yellow +12V
27V X961 Black 0V
1 Black 0V Drives
Red +5V
DC/DC
0V
2 PowerOn LED
12
Mainboard
(red=+5V, blue=-5V, yellow=+12V, brown=-12V)
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 7
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 8
Computer Unit
Swing frame
PC power supply
Motherboard
Drives
KUKA-specific hardware
Resolvers
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 9
Motherboard
ISA Slots
PCI Slots
voltage
supply
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 10
Motherboard interfaces
COM2
serielle Schnittstelle
COM1
for mouse
connection Floppy disk drive
PCI-Slots LPT1
for printer connection
RAM memory
modules
Hard disk
CD-ROM drive
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 11
Computer Unit
Swing frame
PC power supply
Motherboard
Drives
KUKA-specific hardware
Resolvers
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 12
Hard disk
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 13
Hard disk
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 14
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 15
CD-ROM drive
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 16
Computer Unit
Swing frame
PC power supply
Motherboard
Drives
KUKA-specific hardware
Resolvers
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 17
KUKA-specific hardware
PC Optional
CPU bus card
K-VGA MFC
•Watchdog
•CAN-bus DSEAT FE201
•Ethernet
•Position control Saftey logic
•temperature monitoring
•Speed controll module
•KCP keyboard
•Commutation
•16 inputs
•20 outputs
Display Keyboard
Ethernet Control elements
Control cable
RDC
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 18
KCP-Display
External
monitor
PCI-bus
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 19
• Standard VGA-card
• Interface for an LCD-display
• Interface for an external VGA monitor
• Resolution: 640 x 480
• number of colors: 16 (old card) or 256 (new card)
• 1 MB graphics memory
• Activating screen display by useing the Windows system (new card) or
activate an ∗.COM-file
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 20
CAN-bus
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 21
Enabling switch
Reserved for
subsequent
applications.
Ethernet-
connection
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 22
KUKA-control-panel
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 23
Ethernet
X802 1. DSEAT
User CAN
X801 X810.1
2. DSEAT
X810.2
(optional)
X804
Ethernet
(V)KCP cable
X806
(V)KCP cable
X807
Safety logic
X808
User I/Os
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 24
MFC configuration
J6 (Plug-n-Play)
enable
disable
J5 (Adresse SMC)
J4 (Adresse SMC) X806
X808 X807 X804
X801
X802
123
J1 (Active Watchdog)
enable
disable
J2 (Adresse RTACC) J3 (IRQ Select)
260 2-3: IRQ5
280 Jumper not inserted
Jumper inserted
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 25
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 26
A Current
D control
Position (-)
Position Speed Commu-
setpoint control control tation
/IPO (-) (-) PWM
Difference
calculation
Calculate
rotorposition
Software Hardware
RDC R
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 27
X811
Connection
for PM6-600
X810
Connection
for MFC
X812
Connection
for RDC
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 28
123
U18
U33
U34
X811
321
Jumper:
U18: 2-3 Boot from dual port RAM
U33: 1-2 INT 13
X810
Watchdog-LED (at rear)
X812
DSP
(digital signal
processor)
JP2
JP3 U23
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 29
DSEAT functions
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 30
Blinking LED
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 31
Resolver-to-Digital-Converter (RDC)
Plastic screw Metal screw
X31
Connection
to the DSEAT
Resolver
A1 up to E2
X32
Connection
to the EMT
Metal screw
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 32
Metal screw
X6
X10
X5
X4 321
X3 X9
Watchdog-LED
Metal srew
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 33
Resolver-to-Digital-Converter (RDC)
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 34
Computer Unit
Swing frame
PC power supply
Motherboard
Drives
KUKA-specific hardware
Resolvers
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cos
U t
125µ
µs
t U
sin
Rotor infeed: 8kHz
t
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cos
U t
125µ
µs
t U
sin
Rotor infeed: 8kHz 30°
t
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cos
U t
125µ
µs
t U
90° sin
Rotor infeed: 8kHz
t
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cos
U t
125µ
µs
t U
135° sin
Rotor infeed: 8kHz
t
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 39
cos
U t
125µ
µs
t U
180° sin
Rotor infeed: 8kHz
t
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Input voltages:
U0
0
t
Output voltages:
Ucos
0
α
90° 270°
1/3 revolution of the motor
Usin
0
α
180°
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A B C Ucos=ü•U0•cos(p•α
α)
D
Rotor
Stator
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 42
Resolution with
12bits (4096 Increments)
Power infeed
ca. 16VSS 8kHz Resolution/Revolution of the motor=
3 • 4096 = 12288 Increments
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5. Unidade potência
Power Unit
Servomotor
Mains filter
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 2
Discription of PM6-600
•Power supply
•Ballast circuit
•Low-voltage power supply
•Servo-amplifiers for 6 robot axes
•Brake switch (in common for all 6 Robot axes)
•Monitoring of motor currents and short-circuit protection
•Monitoring of heat sink, air, ballast resistor and fan temperatures
•Interface with the DSEAT
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 3
Special features:
•600V technology
•All 6 servo drive units in one module
•All connections pluggable
•Connections to the PC (DSEAT) via a 40-pole ribbon cable
•Output stages are equipped with IGBTs (Isolated gate bibolar transistor)
•Plug & Play technology.
•Same module for all standard robot models
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 4
Fan temp.
Heat sink
Oscillator
Logik Output stage
4kHz
Programming Current
controller Driver
D/A EEPOT PI IGBT´s
PWM
Control
DSEAT logic Phase U Phase U &
Phase W Phase W
U/V/W
12bits
Internal enable
Current actual value
Current
trans-
Back-up U<27V
Driver supply 100kHz former
stop UBatt<19V
16VSS 600V
27V Low-
I/Os power Interm. circuit
voltage
+5V supply voltage 60-740V
power
supply Ballast resistor
PC 27V
+/-15V 22Ω M
Brakes 27V Brakes 27V
27V Safetylogic Overtemperature Ballast Fan1 Fan2
BATTERY 27V 7,5V
FE201
Back-up 24V
3x400V
mains Rapid gaging inputs from X11
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X11
F6/6,3AT
X963
X605
DSE RDC
X965
Cabinet lightning
X202
F5/6,3AT
X964
F4/10AT
Safety logic FE201
Puffern 0V
PC-power supply
+15V
DSE DC
70. 27V1
120 s U<24V -15V
U<24V 0V +5V
U<19V DC
U>22V U<22V 0V1
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 7
K3
X105/7,8
& FAULT
Ballast fault
T
Ball.
Control logic
K3
τ
650ms K2
K1
26,7V τ
650ms
X105/20
Path-oriented braking & High-speed discharge
U>50V
Intermediate circuit voltage
&
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 8
Motor
50% C3
Phase U A2
Phase V 15V B1
Phase W C1
Current transformer
100% X303L
A3
50%
C3
L- A2
Phase U current actul value
15V B1
C1
Phase W current actul value
Short-circuit braking
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 9
+15V
Overcurrent A1 Axis-specific
Watchdog S Overkurrent A1
Voltage
+5V
&
monitoring
-15V R
Reverse phase monitoring
U_27V
Overvoltage
monitoring UZK
S INT. CIRC. OVERV. >1 Error in control A1
R
Internal
Ready
enable
Voltage monitoring
Enable
& (for current controller
and PWM output)
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 10
X101
X203
F6 LED F7
LED F6
Brakes F5 LED F4
X102
F4 LED F5
LED F8
X103
X202
Safety logic -15V
+15V
X105
+5V
X106
F1
Ballast temperature
M M
X605
Motor axis 1 X301 A3
A4
X305 Motor axis 5
L A5 L
A6
BRAKE
A6
A1
A3
A2
A4
A5
M
UW
M I
UW
M IM
Motor axis 6 X306
(5V=max) (5V=max) X304 Motor axis 4
L L
X606
Operation
Programming
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 12
Power Unit
Servomotor
Mains filter
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 13
Control voltage
F8
F7
X203
Ballast resistor
X604
LED F7 PM0-600
F6 LED F6 ENABLE
X101 LED F4 =Fuse
F5 LED F5 4123
=LED DSEAT
Control voltage LED F8
X605
F4 =Monitor
X102
Internal connection
X610
X202
-15V
FE201 F1 AKKU +15V WATCHDOG
X106 +5V
U interm. circuit
1V=100V
Control signals
Brake control power mod. N2 (N12) Interm. circuit
X315
voltage
Control signals voltage
Power module power mod. N1 (N11)
control voltage
and driver supply
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 14
BRAKE2
BRAKE1
PM1-600/16 X302M
1Iw 2Iu X508 SWITCH1
=LED
=Monitor External
X302L
1Iu 2Iw SWITCH2 axis
X505
5V=Imax
X509
X316 Spare
(used on bottom
power module for
receiving intermediate
X504 circuit connector X315)
PE connection
Intermediate
X315
Equipotential Brake circuit voltage
bonding output
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External axis
BRAKE2
BRAKE1
PE connection
Intermediate
X315
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Control voltage
Control signals
and driver supply
Intermediate
X301H1
X507
circuit voltage
X315
External axis 1
BRAKE2
BRAKE1
(high power) X301H2
PM2-600/25/16 External axis 2
1Iw 2Iu X508 SWITCH1 (medium power)
=LED
=Monitor
External axis 2
External axis 1 X301M 1Iu 2Iw SWITCH2 (low power)
(medium power) X505
5V=Imax
X509
External axis 1 X301L X316 Spare
(used on bottom
(low power) power module for
receiving intermediate
X504 circuit connector X315)
PE connection
Intermediate
X315
Equipotential Brake circuit voltage
bonding output
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Power Unit
Servomotor
Mains filter
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Servomotor
3 permanent magnets
in the rotor
W V
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Servomotor
Connectors
Stator windings
Housing
Resolver
Bearing
Motor connector
5 1 1 9 8
2 10 12 7
6
4 2 11
3 6
3 4 5
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KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 23
Power Unit
Servomotor
Mains filter
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 24
Mains filter
The principal function of mains filters (interference suppressor filters) is to allow the
useful signal (in this case the 50Hz supply voltage) to pass through unimpeded as
possible and to effectivley suppress noise signals (higher-frequency, conducted
interference voltages) (low-pass character).
Line Filter
reactors
Shielding
A
Clock frequency 4kHz
Capacitive coupling
to shield
t
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Power Unit
Servomotor
Mains filter
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 26
DIP-FIX DIP-FIX
X7-X9 X10
K1 K3 K5 K7
Emergency stop Automatic Safety Test K9
K2 K4 K6 K8
K14
K13
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Encoder error
Short-circuit braking
(DSE RDC connection broken)
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Path-main- Only switched Remains charged Remain open Applied In this time the controller
taining off after 1.3sec 1.3sec, then 1.3sec, then after brakes the robot on the path
braking hardware delay high-speed they close 1.3sec using a stepper stop ramp.
discharge
Path-ori- Switched off Discharged They close Applied The controller attemps to
ented during braking, when UIC<50V immediately brake the robot on the path
immediatley with the remaining interme-
braking high-speed
diate circuit voltage. When
discharge when
the intermediate circuit
UIC<50V
voltage is no longer
sufficient for doing so, short-
circuit braking is activated.
Ramp- Remain ON Remains Remain Remain Normal ramp which is also
down charged open open used for normal acceleration
and deceleration at a point.
braking
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6. Cabeamento do armário
Ballast resistor
Battery
X921 X923 X922 X924
X306 X304
X606
X21
X19
X11
X20
X7
X1
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
7. Painel de conexões
Connector panel
X01
X20 X7 X11 X12 X13 X19
7.3
X1 7.2 X8
7.1 X21
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8. Manutenção
Maintenance / Repair
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
Maintenance / Repair
„Maintenance“ table
Maintenance point Maintenance interval Activity
exchange
6 months
interval
1 year
Rec.
Side and rear of control Clean heat sin with brush and check
cabinet, heat sink that it is securely fastened
Maintenance / Repair
„Maintenance“ table
Maintenance point Maintenance interval Activity
exchange
6 months
interval
1 year
Rec.
Control cabinet, exterior of PC, Clean external swing frame
external swing fram fan fan for PC with brush
for PC (if present) Exchange external swing frame fan for PC
X
Control cabinet, PC, Exchange motherboard battery
motherboard battery X
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 3
9. Instalação do software
Preparation:
• Save data:
– Save all to Floppy, virus scan drive A
Procedure:
• Alter boot sequence in BIOS from C,A to A,C
• Delete partitioning using FDISK
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 2
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DSE-RDC-TOOL
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DSE-RDC-TOOL
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KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 3
Motor temperature
10000=20°C
22000=max.
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 4
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 5
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 6
SYMMETRY SIN
COS Adjustment of SIN and
COS inputs to the same
amplitude
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KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 8
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 9
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 10
Trigger conditions
inputs: 8 7 6 5 4 3 2 1
trigger variable: 1 0 0 1 1 0 1 1
&
trigger value 1: 0 0 0 0 0 0 1 0
=
trigger value 2: 0 0 0 0 0 0 1 0
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1 INI
2 PTP HOME Vel= 100 % DEFAULT
3 LOOP
4 $TRACE.MODE=#T_START start
5 REPEAT
6 UNTIL $TRACE.STATE==#T_WAIT
7 PTP P1 Vel= 100 % PDAT1
8 PTP P2 Vel= 100 % PDAT2
9 PTP P3 Vel= 100 % PDAT3
10 PTP P4 Vel= 100 % PDAT4
11 WAIT SEC 0
12 $TRACE.MODE=#T_STOP end
13 REPEAT
14 UNTIL $TRACE.STATE==#T_END
15 PTP HOME Vel= 100 % DEFAULT
16 ENDLOOP
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KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 1
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 2
RDW
Motor5 X5 X4
Motor4
Resolver4 Resolver5
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KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 4
RDC
Motor5 X5 X4
Motor4
Resolver4 Resolver5
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 5
Test PM 6-600
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 6
Test PM 6-600
RDC
Motor5 X5 X4
Motor4
Resolver4 Resolver5
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 7
Test motor
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 8
Test motor
RDC
Motor5 X5 X4
Motor4
Resolver4 Resolver5
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 9
Test RDC
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 10
Test RDC
RDC
Motor5 X5 X4
Motor4
Resolver4 Resolver5
KUKA Roboter GmbH, Blücherstr. 144, D-86165 Augsburg, Tel.: +49 (0) 8 21/7 97-40 00, Fax: +49 (0) 8 21/7 97-16 16, http://www.kuka-roboter.de I 25.5.99 I CollegeI D I 11
12. Exercícios
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento
KUKA Roboter do Brasil, Av Franz Liszt 80, São Paulo, Tel.: +55 (11) 6984-4900, Fax: +55 (11) 6201-7883, http://www.kuka-roboter.com.br Depto. Service e Treinamento