Quick start for KUKA LWR

switch on KUKA

turn the right upper switch to straight position
wait for booting (around 4 min), you will see below screen

setup needed for each booting

setup tool and base
- press configure
- press 6 set too/base
- you will see
- then set Tool no. to 4 which is Schunk Wsg50
- set Base No. to 2 which is table

enable the robot

in KUKAControlPanel (KCP), press the blue button at the left most column, second row, this bottom is for switch witch part of the KCP to enable. press several times utill you see Ackn. All in the right bottom of the KCP
then you press the button Ackn. All to enable the robot

control robot using position control / teach mode

press here:
you will see (note the below two red circle):
- for teach mode: press GravComp
- for position control: press Position
then press the white enable button at the back of KCP to control the robot manually
Note for position control
- press this button to change mode: (note the red circle)
- available choices:
- the left mode will control J1 to J6
- the middle mode will control E1

shutdown the robot

just turn the red button to horizontal position
put the KCP back to the wall