KMC

KUKA Motion Control

For everything that moves in automation:

PC-based KUKA Motion Control
WORKING IDEAS

A D V A N T A G E S

MORE INTELLIGENT AUTOMATION

WITH THE ADVANTAGES OF THE FIELD APPROVED KUKA CONTROLLER.

The KUKA KR C2 contr oller is alr eady r egar ded as a milestone in the histor y of
contr ol technology. It has pr oven itself to be par ticularly r eliable, multifunctional
and easy to use. So good, in fact, that our engineers felt that it would be a shame
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if it could only be used with KUKA r obots. Consequently, the KUKA contr oller has
been expanded for General Motion Contr ol tasks and made available for ever yone
in the field of automation. The r esult is KUKA Motion Contr ol, or KMC. In the
futur e, you will only need to invest in a single, compr ehensive har dwar e and softwar e solution.

Many years of experience: the KUKA KR C2 controller.

Its hallmarks: standardized modules, reliability and safety
that have been amply demonstrated in the automotive
industry, ease of servicing and maintenance, and modular
single or multiple axis technology.

Advantages

PC-based controller: worldwide standard, openness, network capability

Experience dating back to 1996: technological revolution in the world of robot control
World leader in the field of PC-based industrial robots
KUKA has many years of engineering experience and a wealth of expertise in this field
The software is ideally suited to motions using space coordinates
The controller takes over all robot control, motion control and sequence control
functions

Fully coordinated control system from a single provider

Ever since 1996, KUKA has been renowned for the intelligence of its PC-based robot
controller. With over 30,000 in use in the automotive industry alone, this speaks volumes about its productivity and reliability. Despite its open structure, the KUKA controller
has so far only been available for use with KUKA robots. Now systems integrators and
manufacturers of other manipulators and machines can also enjoy the benefits. From
now on they can use the KUKA controller as an OEM product for any automation control
tasks be it as a robot controller or as a motion control unit.
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Non-KUKA kinematic system with KUKA KMC2 controller. The beverage industry worldwide relies on palletizing systems;
with the KUKA controller they can be made highly productive and flexible.

Proprietary controller architecture

Introduction of PC technology
in the robot controller
50,000

12,000 robots produced

1981

1985

1990

1995 1996

2000

2003

Reaping the benefits of

open standards. The
diagram says it all:
KUKA has been able to
sell far more robots
since launching the
KR C2 controller onto
the market. This is because it can be easily
integrated into a wide
range of peripheries.

A P P L I C A T I O N S

DISCOVER THE POSSIBILITIES.

T h e r e a r e n o l i m i t s t o t h e u s e s o f K U K A c o n t r o l t e c h n o l o g y.
It ensures greater performance in the most varied of applications.
The proof: Here are just 4 of 444 possible applications.

Single column module packer. This packing machine can be used for packing and unpacking all
manner of bottles and jars with a diameter of
70 mm to 105 mm. The packing of containers,
such as plastic crates and collapsible cardboard
boxes (with or without internal dividers), is also
no problem.

Depalletizer/pushing device with pallet lift. This

depalletizing machine is used to push layers of
new glass containers away from pallets and remove the slipsheets/slip-on covers. The average
hourly capacity is 300 to 400 layers.

Universal handling gantry. This is primarily used

for linking machine tools. The mounted turnoverservogripper allows blanks and finished parts
to be double-gripped, thus keeping unproductive
time of the machines to a minimum. Smooth
transitions between axis motions shorten cycle
times, thus increasing the efficiency of the machines still further.

Cardboard box folder. The box folder aligns precut

templates, folds in the bottom flaps and glues
them in place. The machine dispatches the finished
boxes upright and ready to be filled.

The KUKA controller can be used to control a wide range of kinematic systems and
machines more intelligently than with conventional solutions. Irrespective of whether
the individual axes are to be moved synchronously, asynchronously or pulsed, the
KUKA controller is ideally suited to all your requirements. With KUKAs controller
concept for all machine types, even more intelligent solutions can be developed. Your
productivity increases, giving you an impor tant competitive edge.

SOFTWARE & OPERATOR CONTROL

THESE TOOLS ENABLE YOU TO REACH YOUR GOALS MORE QUICKLY.

The hardware and software tools that come with KUKA controllers provide you
with a unique range of special functions that have evolved fr om the harsh r equir em e n t s o f t h e a u t o m o t i v e i n d u s t r y. T h e K U K A c o n t r o l l e r o f f e r s a n a c c e l e r a t i o n
model to reduce the strain on your robot and many other features that will help
you in day-to-day operation. Further advantages, such as automatic restart after
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power failure, no deviation from path following Emergency Stop, approximate

p o s i t i o n i n g a n d a n t i - c o l l i s i o n f u n c t i o n s , a l l s e r v e t o b o o s t y o u r p r o d u c t i v i t y.

I M P L E R

A N D

M O R E

N T U I T I V E

O P E R A T O R

C O N T R O L

KUKA

6D mouse: convenient teaching using just one operator control element

Rapid programming using simple Windows operating platform

Template forms for quicker entry of commands

Block functions for shorter programming times

Softkeys and clearly laid-out function blocks

O N T R O L

A N E L

(KCP)

The tried-and-tested KUKA controller has everything you need. Application control is
more time-optimized, operator control is simpler, and integration into higher-level structures runs more smoothly. There is also a range of functions designed to make your
work easier. Not just for controlling your robots, but also for your complete production
cells/lines. You can thus integrate visualization, programming and control of your entire
production system. The KUKA controller allows you to standardize and simplify your
control structures and to reduce planning and commissioning times and cycle times.
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v Velocity

Only from KUKA: timeoptimized positioning at

points. With KUKA, not
only the programming,
but also the motion
t Time
KUKA robot controller
profile is simply faster.
Conventional controller
The controller and software are geared towards time-optimized positioning at points. This
means more acceleration, shorter cycle times and
motions that put less strain on your equipment.

Control molded to your

needs: Soft PLC. In addition to common robot
applications, the KUKA
PC-based controller can
also control your entire
production cell via an
integrated Soft PLC.
You save on expensive hardware, simplify operator
control and are more flexible.

Full range of motion control functions: MCFB.

By expanding the controller to incorporate
motion control function
blocks, we have catered
for every need. Functions such as electronic
line shafts, master-slave coupling and axis interpolation come as integral parts of the product, and
run in parallel with the existing robot controller.

Verification of feasibility
in advance: KUKA Sim.
With the simulation
software KUKA Sim,
cells and lines can be
planned and configured
with true-to-life accuracy. By running your
application sequences in real time, your drafts and
designs can be verified at an early stage. This
shortens the time required for commissioning.

Making operator control easier: HMI Studio.

Our HMI (human machine interface) software allows you to
tailor your user interfaces and functions
more closely to your
specific application. This makes not only your
cell, but your entire production line more uniform,
integrated and easier to operate. The OPC
software interface takes care of data exchange
between the HMI software and the Soft PLC.

While production is
under way: offline programming with Office
Lite. Convenient production programming using
an office PC or laptop.
KUKA offline programming works with absolutely accurate data. This makes extremely short
conversion times possible.

C O N T R O L

S Y S T E M

INTELLIGENCE WITH SYSTEM

THE MODULAR SYSTEM FOR YOUR AUTOMATION REQUIREMENTS.
D o w h a t y o u w a n t w i t h o u r m o d u l a r s y s t e m . Ta k e a s m u c h o r a s l i t t l e a s y o u
actually need. At the end of the day you will always have two advantages:
l o w e r c o s t s a n d g r e a t e r f u n c t i o n a l i t y. S o , h o w m u c h c o n t r o l t e c h n o l o g y d o
you need for your application?
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O R E

M O D U L A R I T Y

F O R

Y O U R

High-performance intermediatecircuit power supply

Industrial PC with
high availability

Space for up to eight

series 8 servo controllers,
max. peak current 64 A

Space for user-specific

equipment

Configurable
connector panel

A P P L I C A T I O N

The KUKA control philosophy is based on a flexible and well-thought-out modular concept
in which both the software and the hardware can be adapted to the requirements of your
application. You only pay for what you actually get. And you only get what you actually
need. If you require the complete system, you will receive a complete solution molded to
your needs. If your system requirements are more modest, we leave out the modules that
are not required. Items such as field bus interfaces, wiring and connector panel configuration are tailored to your requirements. Thats how easy it is working with KUKA.
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H E

M O D U L A R
R E Q U E S T

S Y S T E M
W E

C A N

F O R

Y O U R

S U P P LY

T H E

A U T O M A T I O N
C O M P L E T E

Control & observe. With the

KUKA Control Panel you have
everything under control.

R E Q U I R E M E N T S

S Y S T E M

Free choice of field bus. We

support all common field bus
systems.

Complete wiring. You can also rely

on us for cables, connectors and
interfaces.

Integrated software functions.

Everything runs on a single platform from Soft PLC to OPC.

RC- (robot control) and MC- (motion control) based drive control.
Even the motors are available
from KUKA. We can also integrate
non-KUKA motors, however.

Integrated safety functions. Features such as the anti-collision

function increase availability.

Office interface via PC. Offline programming and data

evaluation is now no problem.

Teleservice. Increase your productivity with our Internetbased remote diagnosis.

T E C H N O L O G Y

OPEN ON ALL SIDES.

KUKA control technology makes it easy to control and network robots
and other kinematic systems. Integration into higher -level control structures
is also no problem. Here you can see at a glance what interfaces and other
options are open for you.

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PC Pentium processor

TCP/IP

Windows
Operator control +
display,
Data management
Up/Download
Commands, variables

Drive amplifiers

Real-time expansion
VxWorks
Command processing,
path planning, etc.
Servo bus IBS
ISA/PCI

KUKA VGA

Multi-function card MFC

Serial
Corresponding plug-in card

PCI

CAN

CAN

CAN bus
(DeviceNet)

Digital I/O

Standard

Interbus,
Profibus,
DeviceNet,
ControlNet,
Ethernet

Serial interface

Ethernet

Optional

DSE-IBS
(Digital Servo-Electronics)
Control, commutation,
error monitoring

RDC (Resolver Digital Converter)

Resolver values, mastering position

KUKA Motion Control is a key which fits all the doors to the world of automation. It is
thus bound to be suitable for your control system, too. Its open structure makes for
optimal system integration. Thanks to standardized protocols, full use can also be made
of the Ethernet. Even the integration of lower-level controllers, sensors and actuators
is guaranteed. With KUKA Motion Control, exploit all the potential you need in order to
enhance productivity and profitability!

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Integration into any periphery. KUKA Motion

Control comes with a CAN bus interface as standard. But it can also communicate with all other
common bus systems or even with higher-level
control entities via the Ethernet connection.

The range of functions can be extended at any

time. KUKA MC offers a whole range of expansion options: from process visualization, through
system and periphery diagnostics (e.g. Interbus
diagnostics with the original CMD tool), to generating your own production statistics.

KUKA partner concept. The close development

and systems partnership we offer our customers
in the field of control technology means that
each party can concentrate on its particular
areas of competence. You on your applications,
KUKA on its control platform system expertise.
The result: synergies for greater profitability.

Optimal system integration from a single source.

The decisive factor for your automation solution
is always the bottom line. In order to increase
your profitability, with KUKA you receive the
complete, pre-configured control system from a
single provider.

K M C 2 - K D B

THE LITTLE SISTER: KMC2-KDB

BRINGS YOU POWER WHERE YOU NEED IT.
For certain automation tasks, where a compact controller is required, the
KMC2s smaller sibling, the KMC2-KDB (KUKA Drive Box), may be the right
choice. It can be installed directly in or on the machine and offers all the
features of its larger counterpart.
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KMC2-KDB

KUKA Drive Box (KDB)

Features of the KMC2-KDB

Brings you power where you need it and reduces power dissipation
Synchronized motion of external drives
Minimum cabling required
Small floor space requirements thanks to compact design
More flexible field of applications
Up to 5 servo controllers can be integrated
Integration in or on the machine

The control system KMC2-KDB with KUKA Drive Box offers you the advantage of separate
installation. The KMC2-KDB control unit remains near the user where it can be programmed most easily. The KUKA Drive Box, on the other hand, is ideally mounted on the
machine, near the motors, or installed in the system to be controlled, thus saving space.
In this way, installation work and power dissipation are kept to an absolute minimum.
Installation of the Drive Box directly on a Car tesian gantry, so that it moves with the
handling device, significantly reduces the number of cables in the energy supply chains.
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K U K A

M O T I O N

C O N T R O L

MODULAR AUTOMATION FOR MECHANICAL ENGINEERING.

Alongside robots, there is a large number of other machine types that
cannot be operated optimally with a robot controller alone. For this reason,
KUKA has expanded its control technology to include Motion Control
Function Blocks.

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O D U L A R

KUKA

C O N T R O L

S Y S T E M S

F O R

M A C H A N I C A L

E N G I N E E R I N G

IPC. Use the same PCs

for your control tasks
as those that have
proven their worth in
series robot operation.

Windows real time expansion. The Windows

real time expansion options the technical
basis of the success
of KUKA robot controllers can also be
purchased separately.
We can currently supply VxWin (with VxWorks)
and CeWin (with Windows CE).

KMC system structure.

The centerpiece of KMC
is the tried-and-tested
KUKA Soft PLC. The
robot, motion control
function blocks, field
bus I/Os and humanmachine interface are
subsystems that are coordinated from the central
Soft PLC. All in a single controller!

PLC/robot integration.
The robot subsystem is
connected to the Soft
PLC running on the same
controller via KUKA-specific PLC function blocks.
The Soft PLC thus has
direct access to robot
controller variables, and vice versa, without the
inconvenience of external field buses. The Soft PLC
can also analyze and acknowledge robot controller
error messages.

Integration of Soft PLC/

field bus I/Os. W ith
KMC, the field bus I/Os
can be controlled directly by the Soft PLC.
For this purpose, interfaces are available for
all common field buses.
The configuration and diagnosis of the field buses
are fully integrated into the development environment of the Soft PLC.

Integration of drives via

CALL-D. With KMC, the
drives are controlled
by the robot controller
and the MCFBs via a
standardized CALL-D
interface. The axes can
be assigned freely to
the robot and the MCFBs. The established KUKA
Servo Drives are currently available, to be followed
later by interfaces for servo buses such as Powerlink and SERCOS.

The new PLC-controlled motion control function blocks can be used either as a standalone system or, installed in the same KR C, in conjunction with the robot controller. The
PLC can communicate internally with the robot controller for the purposes of exchanging
variables and reacting to robot error messages with any operator actions that may be
necessary. This is useful if the system is to display a user interface of its own (e.g. one
created using HMI Studio) rather than the robot user interface.

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KMC-controlled X-Y-Z gantry with decentralized drives, implemented using KMC-KDB

KMC-IPC-based foil packaging machine using the electronic line shaft principle

In addition to our robotic systems and control systems, we offer not only
an extensive range of support services, but also robot rentals, used robots
and spare parts.

WM-Nr. 841831/E/1/02.04

CUSTOMER SUPPORT

The KUKA World Support Center is there to ensure that your

projects run smoothly, from the planning phase through to production. Our technicians concentrate on your specific requirements and optimize the standard product to meet your needs.

As far as availability is concerned, with KUKA you are in good

hands. From programming and system optimization to maintenance and immediate assistance our specialists are at your
disposal. Our qualified hotline employees are available round
the clock to deal with all your questions!

KUKA robots and controllers can do anything if you know how

to use them. It is for this reason that we not only produce
state-of-the-art technology, but also set quality standards in
the field of training. We offer seminars worldwide, tailored to
virtually all technology applications of the various target groups.
For more information, e-mail us at [email protected]

www.kuka.com

An IWKA Group company

WORKING IDEAS
KUKA Robotics Corp.
6600 Center Drive
Sterling Heights
Michigan 48312 USA
Tel.: +1-866/8 73-58 52
Fax: +1-866/3 29-58 52
[email protected]

KUKA international:
Austria, Belgium, Brazil,
China, France, Germany,
Hungary, Italy, Korea,
Malaysia, Mexico, Portugal,
Spain, Sweden, Switzerland,
Taiwan, Thailand, UK, USA