.. _kuka_lbr_iiwa_starting_up:

Starting Up
===========

.. warning:: First of all, please make sure that you have read the :ref:`KUKA LBR iiwa 14 R820` User Manual before starting up the robot.


Please follow the instructions below to power up the :ref:`KUKA LBR iiwa 14 R820` robot.
This instructions are based on the :ref:`KUKA LBR iiwa 14 R820` User Manual.

.. warning:: Entering the ``danger zone`` of the robot is prohibited if the robot is in operation or ready for operation. **Risk of injury!**


.. figure:: ../../../_static/images/kuka_lbr_iiwa/kuka_iiwa_danger_zone.png
    :scale: 20%
    :align: center
    :alt: KUKA LBR iiwa 14 R820

    KUKA LBR iiwa Danger Zone


Overview of the robot
---------------------

First of all you need to know the components of the robot system. The robot system consists of the following components (See image :numref:`kuka_iiwa_components`):
    - Arm
    - smartPAD (Control Panel)
    - KUKA Sunrise Cabinet (Controller)
    - Connecting cables
    - Software


.. _kuka_iiwa_components:
.. figure:: ../../../_static/images/kuka_lbr_iiwa/kuka_iiwa_components.png
    :scale: 20%
    :align: center
    :alt: KUKA

    KUKA LBR iiwa Components

The details of the components are as follows:
    #. Connecting cable to the smartPAD
    #. KUKA smartPAD control panel
    #. Manipulator
    #. Connecting cable to KUKA Sunrise Cabinet robot controller
    #. KUKA Sunrise Cabinet robot controller

.. note::

    To have more information about the :ref:`KUKA LBR iiwa 14 R820` robot, please refer to the :ref:`KUKA LBR iiwa 14 R820` User Manual.


Before Starting Up
------------------


Before starting up the robot, please make sure that the following conditions are met:
    #. The robot is placed on a flat surface.
    #. The robot connections are properly connected.
    #. The robot is connected to a power source.

.. warning::

        Please make sure that the robot is placed on a flat surface. Otherwise, the robot may fall down and cause damage to the robot system. See :numref:`fig_kuka_iiwa_warning_1` and :numref:`fig_kuka_iiwa_warning_2`.



.. _fig_kuka_iiwa_warning_1:
.. figure:: ../../../_static/images/kuka_lbr_iiwa/kuka_iiwa_warning_1.png
    :scale: 16%
    :align: left

    KUKA LBR iiwa Positioning



.. _fig_kuka_iiwa_warning_2:
.. figure:: ../../../_static/images/kuka_lbr_iiwa/kuka_iiwa_warning_2.png
    :scale: 18%
    :align: right
    :alt: KUKA LBR iiwa Warning

    KUKA LBR iiwa operating instructions

.. warning:: Before starting up the robot, please make sure that you are aware about the safety zones of the robot. See :numref:`kuka_iiwa_safety_zones`.

.. _kuka_iiwa_safety_zones:

.. figure:: ../../../_static/images/kuka_lbr_iiwa/kuka_iiwa_safety_zone.png
    :scale: 30%
    :align: center
    :alt: KUKA LBR iiwa Safety Zones

    KUKA LBR iiwa Safety Zones

The zones are as follows:
    #. Zone 1: Work Space.
    #. Zone 2: Manipulator.
    #. Zone 3: Stopping Distance.
    #. Zone 4: Safety Zone.



Powering on
-----------

To power on the robot, please turn on the power supply of the robot controller (KUKA Sunrise Cabinet).
The power supply is located on the back side of the robot controller. See :numref:`fig_kuka_iiwa_power_supply`.

.. _fig_kuka_iiwa_power_supply:

.. figure:: ../../../_static/images/kuka_lbr_iiwa/kuka_iiwa_controller_power.jpg
    :scale: 12%
    :align: center
    :alt: KUKA LBR iiwa Power Supply

    KUKA LBR iiwa Power Supply

After turning on the power supply, the robot controller will start up. The robot controller will take some time to start up. After the robot controller is started up, the robot is ready for operation.
During this time you will see the teach pendant go through a number of different screens including a windows startup screen before being ready to go. See :numref:`fig_kuka_iiwa_startup`.

.. _fig_kuka_iiwa_startup:

.. figure:: ../../../_static/images/kuka_lbr_iiwa/kuka_iiwa_startup_screen.png
    :scale: 100%
    :align: center
    :alt: KUKA LBR iiwa Startup

    KUKA LBR iiwa Startup