1.1 KCP and KSS

KCP - KUKA Control panel

The KUKA teach pendant is the KCP. In our setup the e-stop button on the KCP is a "local" emergency stop. It only affects the controller which the KCP is connected to.

In the top right of the KCP are a mode selection key, emergency stop and buttons to power the drives.

Modes:

• Teach 1 - T1

  Speed is limited to 250mm/s. Enable switches on the back of the KCP must be pressed for movement. These are "panick" switches with three states. Released and pressed all the way will disable drives, while the middle position will enable them. Program override speed and jog speed is in % of 250 mm/s.

• Teach 2 - T2

  Like T1 but without the speed limit. Program override speed is in % of maximum speed

• AUT - Spiral looking mode

  Automatic mode. Allows robot movement at full speed without holding any enable buttons.

• Aut ext - Sprial looking with dot

  Like automatic mode, but intended for use if the KRC is controlled from an external PLC.

The (I) and (O) buttons are used to enable and disable drives in automatic mode.

KSS Status line

At the bottom of the KSS program window is a status line.

• NUM Numeric keypad active

• CAP Capslock active

• S Status of the SPS. Green means running, red stopped and grey not selected. Unless you are editing SPS code this should be green

• I Status of the intermediate circuit. Green: drives powered. Red: driver unpowered

• R Status of running (selected) program. Grey: No program selected. Green: Program running. Red: program stopped

• ROS_RSI Name of the currently selected program

• IP Line which program pointer has reached in selected program

• Aut Selected operating mode

• POV Program override speed

• Name Name of robot

• Time Current system time