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Kuka KR 30-2, Manual

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Issued: 08.09.2015 Version: Spez KR 30, 60-2 JET V1

KR 30-2 JET; KR 60-2 JET

4.16.4

Stopping distances and stopping times for STOP 1, axis 1

Fig. 4-29:  Stopping distances for STOP 1, axis 1

Summary of Contents for KR 30-2

Page 1: ...Robots KR 30 2 JET KR 60 2 JET Specification KUKA Roboter GmbH Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 2: ...e case of a replacement or service work We have checked the content of this documentation for conformity with the hardware and software described Nevertheless discrepancies cannot be precluded for whi...

Page 3: ...lates and labels 40 4 16 Stopping distances and times 41 4 16 1 General information 41 4 16 2 Terms used 42 4 16 3 Stopping distances and stopping times for STOP 0 axis 1 to axis 3 43 4 16 4 Stopping...

Page 4: ...3 Start up and recommissioning 56 5 5 4 Manual mode 58 5 5 5 Automatic mode 58 5 5 6 Maintenance and repair 59 5 5 7 Decommissioning storage and disposal 60 5 6 Applied norms and regulations 60 6 Plan...

Page 5: ...t or remedy emergencies or malfunctions Notices These notices serve to make your work easier or contain references to further information t t These warnings mean that it is certain or highly probable...

Page 6: ...6 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 7: ...se as a climbing aid Operation outside the permissible operating parameters Operation in potentially explosive environments Use in underground mining 2 s For optimal use of our products we recommend t...

Page 8: ...8 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 9: ...r Connecting cables Teach pendant KCP KUKA smartPAD Software Options accessories 3 2 Description of the robot Overview The mechanical system of this robot consists of the main elements KR JET ROBOT an...

Page 10: ...vailable They differ in the position of the guide rails and racks which may be mounted on the side or on the bottom The beam is bolted to the columns and also supports the energy supply system for the...

Page 11: ...m also houses the motor of axis 3 Link arm The link arm is the assembly located between the arm and the rotating column It consists of the link arm body and the gear units and bearings for axes 2 and...

Page 12: ...12 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 13: ...o EN 60529 Protection rating of the in line wrist IP65 Sound level 75 dB A outside the working envelope Mounting position inverted side mounted Surface finish paint work Moving parts KUKA orange 2567...

Page 14: ...n the foundation 4 14 Foundation loads Page 38 Protection rating of the robot IP64 Ready for operation with connecting cables plugged in according to EN 60529 Protection rating of the in line wrist IP...

Page 15: ...mm Working envelope ref erence point Intersection of axes 4 and 5 Weight excluding linear axis approx 479 kg Principal dynamic loads See Foundation loads Protection rating of the robot IP64 Ready for...

Page 16: ...m 35 m with RoboTeam 7 m 15 m 25 m 35 m with SafeRobot 7 m 15 m 25 m 35 m Cable designation Connector designa tion Interface with robot Type KR 60 L45 2 JET ROBOT Number of axes Robot 5 JET ROBOT Line...

Page 17: ...be not ed from the diagram Start up In the case of start up in the range of 278 K to 288 K 5 C to 15 C the robot may have to be warmed up Other temperature limits available on request Ambient conditi...

Page 18: ...e working envelope Fig 4 2 is the intersec tion of axes 4 and 5 Reference plane The reference plane for the working envelope of the robot is axis 2 With side mounting it is offset 155 mm below the cen...

Page 19: ...verted mounting 4 6 Axis data Axis data The direction of motion and the arrangement of the individual axes may be not ed from the diagram Fig 4 3 Reference plane 1 Bolt on surface 3 Center of beam 2 R...

Page 20: ...e working envelope Fig 4 5 is the intersec tion of axes 4 and 5 Reference plane The reference plane for the working envelope of the robot is axis 2 With side mounting it is offset 155 mm below the cen...

Page 21: ...verted mounting 4 7 Axis data Axis data The direction of motion and the arrangement of the individual axes may be not ed from the diagram Fig 4 6 Reference plane 1 Bolt on surface 3 Center of beam 2 R...

Page 22: ...the working envelope is the intersection of axes 4 and 5 Reference plane The reference plane for the working envelope of the robot is axis 2 With side mounting it is offset 155 mm below the center of...

Page 23: ...verted mounting 4 8 Axis data Axis data The direction of motion and the arrangement of the individual axes may be not ed from the diagram Fig 4 9 Reference plane 1 Bolt on surface 3 Center of beam 2 R...

Page 24: ...rking envelope Fig 4 11 is the intersec tion of axes 4 and 5 Reference plane The reference plane for the working envelope of the robot is axis 2 With side mounting it is offset 155 mm below the center...

Page 25: ...bolt on surface of the carriage in the case of inverted mounting 4 9 Order specific technical data Weights example Fig 4 12 Reference plane 1 Bolt on surface 3 Center of beam 2 Rotational axis A2 4 C...

Page 26: ...ample Robot KR 30 JET ROBOT In line wrist IW 30 45 60 Rated payload 30 kg Distance of the load center of gravity Lz vertical 180 mm Distance of the load center of gravity Lxy hori zontal 150 mm Permis...

Page 27: ...eding this capacity will reduce the service life of the robot and overload the motors and the gears in any such case the KUKA Roboter GmbH must be consulted beforehand The values determined here are n...

Page 28: ...ement bush ing in the zero position Supplementary load The robot can carry supplementary loads on the arm When mounting the sup plementary loads be careful to observe the maximum permissible total loa...

Page 29: ...n arm 1 Center of mounts for supple mentary load 4 M8 hole 16 deep 2 Axis 3 5 Interference contour for sup plementary load 3 Mounting surface for sup plementary load Robot KR 60 JET ROBOT In line wris...

Page 30: ...is capacity will reduce the service life of the robot and overload the motors and the gears in any such case the KUKA Roboter GmbH must be consulted beforehand The values determined here are necessary...

Page 31: ...loads on the arm When mounting the sup plementary loads be careful to observe the maximum permissible total load The dimensions and positions of the installation options can be seen in the di agram Fi...

Page 32: ...d on arm 1 Center of mounts for supple mentary load 4 M8 hole 16 deep 2 Axis 3 5 Interference contour for sup plementary load 3 Mounting surface for sup plementary load Robot KR 60 L30 JET ROBOT In li...

Page 33: ...s capacity will reduce the service life of the robot and overload the motors and the gears in any such case the KUKA Roboter GmbH must be consulted beforehand The values determined here are necessary...

Page 34: ...ry loads on the arm When mounting the sup plementary loads be careful to observe the maximum permissible total load The dimensions and positions of the installation options can be seen in the di agram...

Page 35: ...arm 1 Center of mounts for supple mentary load 4 M8 hole 16 deep 2 Axis 3 5 Interference contour for sup plementary load 3 Mounting surface for sup plementary load Robot KR 60 L45 JET ROBOT In line wr...

Page 36: ...this capacity will reduce the service life of the robot and overload the motors and the gears in any such case the KUKA Roboter GmbH must be consulted beforehand The values determined here are necessa...

Page 37: ...loads on the arm When mounting the sup plementary loads be careful to observe the maximum permissible total load The dimensions and positions of the installation options can be seen in the di agram Fi...

Page 38: ...ion The specified forces and moments already include the payload and the inertia force weight of the robot Fig 4 25 Supplementary load on arm 1 Center of mounts for supple mentary load 4 M8 hole 16 de...

Page 39: ...g bases and must be adhered to for safety reasons The supplementary loads on the rotating column are not taken into consider ation in the calculation of the foundation load These supplementary loads m...

Page 40: ...riage 2 carriages Fz vertical force Fzmax 48 000 N Fzmax 62 900 N Fx horizontal force Fxmax 2 900 N Fxmax 2 900 N Fxmax 5 800 N Fxmax 5 800 N Fy horizontal force Fymax 8 300 N Fymax 8 300 N Fymax 16 6...

Page 41: ...mation concerning the data The stopping distance is the angle traveled by the robot from the moment the stop signal is triggered until the robot comes to a complete standstill The stopping time is the...

Page 42: ...conditions of the actual robot application Measuring technique The stopping distances were measured using the robot internal measur ing technique The wear on the brakes varies depending on the operati...

Page 43: ...stopping distances and stopping times after a STOP 0 category 0 stop is triggered The values refer to the following configuration Extension l 100 Program override POV 100 Mass m maximum load rated lo...

Page 44: ...44 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET 4 16 4 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 29 Stopping distances for STOP 1 axis 1...

Page 45: ...45 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 4 Technical data Fig 4 30 Stopping times for STOP 1 axis 1...

Page 46: ...46 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET 4 16 5 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 31 Stopping distances for STOP 1 axis 2...

Page 47: ...47 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 4 Technical data Fig 4 32 Stopping times for STOP 1 axis 2...

Page 48: ...09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET 4 16 6 Stopping distances and stopping times for STOP 1 axis 3 Fig 4 33 Stopping distances for STOP 1 axis 3 Fig 4 34 Stopping times for...

Page 49: ...ectified immediately Safety infor mation Safety information cannot be held against KUKA Roboter GmbH Even if all safety instructions are followed this is not a guarantee that the industrial robot will...

Page 50: ...omplete system or The industrial robot together with other machinery constitutes a com plete system or All safety functions and safeguards required for operation in the com plete machine as defined by...

Page 51: ...operating and programming the industrial robot KUKA smartPAD see smartPAD Manipulator The robot arm and the associated electrical installations Safety zone The safety zone is situated outside the dang...

Page 52: ...rds Issuing the declaration of conformity Attaching the CE mark Creating the operating instructions for the complete system Operator The operator must meet the following preconditions The operator mus...

Page 53: ...xes A1 to A3 The adjustable axis range limitation systems restrict the working range to the required minimum This increases personal safety and protection of the system In the case of manipulators tha...

Page 54: ...dustrial robot They must not be modified or removed Labeling on the industrial robot consists of Identification plates Warning signs Safety symbols Designation labels Cable markings Rating plates This...

Page 55: ...ouse An external keyboard and or external mouse may only be used if the following conditions are met Start up or maintenance work is being carried out The drives are switched off There are no persons...

Page 56: ...tion must be carried out in accordance with the operating instructions or assembly instructions of the robot Avoid vibrations and impacts during transportation in order to prevent damage to the manipu...

Page 57: ...anged the manipula tor and the external axes optional may receive incorrect data and can thus cause personal injury or material damage If a system consists of more than one manipulator always connect...

Page 58: ...must be taken into consideration In Manual Reduced Velocity mode T1 If it can be avoided there must be no other persons inside the safeguard ed area If it is necessary for there to be several persons...

Page 59: ...is in progress This sign must remain in place even during temporary interruptions to the work The EMERGENCY STOP devices must remain active If safety functions or safeguards are deactivated during mai...

Page 60: ...ly be carried out by quali fied personnel Hazardous substances The following safety measures must be carried out when handling hazardous substances Avoid prolonged and repeated intensive contact with...

Page 61: ...y of machinery Safety related parts of control systems Part 2 Validation 2012 EN ISO 12100 Safety of machinery General principles of design risk assessment and risk reduc tion 2010 EN ISO 10218 1 Indu...

Page 62: ...62 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 63: ...into effect and the robot is automatically switched off This protective function can limit the availability of the robot system 6 2 Mounting base Description The mounting base is used for fastening t...

Page 64: ...idual foundations is order specific the necessary dimen sions can be found in the section Order specific technical data Grade of concrete for foundations When producing foundations from concrete obser...

Page 65: ...tween the robot and the control cab inet in accordance with DIN EN 60204 The ground conductors are connected via ring cable lugs The threaded bolts for connecting the ground conductor are located on t...

Page 66: ...66 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 67: ...from obstructions Remove all transport safeguards such as nails and screws in advance First remove any rust or glue on contact surfaces Transport position The robot is in the transport position when...

Page 68: ...slots must be installed Fig 7 2 Transport dimensions 1 Robot 2 Fork slots 3 Center of gravity Use of unsuitable handling equipment may result in dam age to the robot or injury to persons Only use auth...

Page 69: ...ing trans portation Transportation with transport frame For installation on the wall or ceiling the robot is transported in a correspond ing transport frame Fig 7 5 For this the robot must be brought...

Page 70: ...provided in the beam If the carriage is already mounted on the beam it must be positioned near the center of gravity and secured so that it cannot move If the beam is transported using a fork lift tru...

Page 71: ...71 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 7 Transportation 1 Lifting tackle 2 Transport aid load stands M20 3 Beam...

Page 72: ...72 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 73: ...rs of axes 1 to 5 It cannot be used for axis 6 as this motor is not accessible It is only for use in exceptional circumstances and emergencies e g for freeing people The release device is mounted on t...

Page 74: ...74 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 75: ...l and serial number of the controller Model and serial number of the energy supply system Designation and version of the system software Designations and versions of other software components or modif...

Page 76: ...Brazil Tel 55 11 4942 8299 Fax 55 11 2201 7883 info kuka roboter com br www kuka roboter com br Chile Robotec S A Agency Santiago de Chile Chile Tel 56 2 331 5951 Fax 56 2 331 5952 robotec robotec cl...

Page 77: ...on Haryana India Tel 91 124 4635774 Fax 91 124 4635773 info kuka in www kuka in Italy KUKA Roboter Italia S p A Via Pavia 9 a int 6 10098 Rivoli TO Italy Tel 39 011 959 5013 Fax 39 011 959 5141 kuka k...

Page 78: ...n Puchong 47100 Puchong Selangor Malaysia Tel 60 03 8063 1792 Fax 60 03 8060 7386 info kuka com my Mexico KUKA de M xico S de R L de C V Progreso 8 Col Centro Industrial Puente de Vigas Tlalnepantla d...

Page 79: ...10 011 Set bal Portugal Tel 351 265 729 780 Fax 351 265 729 782 info portugal kukapt com www kuka com Russia KUKA Robotics RUS Werbnaja ul 8A 107143 Moskau Russia Tel 7 495 781 31 20 Fax 7 495 781 31...

Page 80: ...damark co za Taiwan KUKA Robot Automation Taiwan Co Ltd No 249 Pujong Road Jungli City Taoyuan County 320 Taiwan R O C Tel 886 3 4331988 Fax 886 3 4331948 info kuka com tw www kuka com tw Thailand KUK...

Page 81: ...info kuka robotics hu USA KUKA Robotics Corporation 51870 Shelby Parkway Shelby Township 48315 1787 Michigan USA Tel 1 866 873 5852 Fax 1 866 329 5852 info kukarobotics com www kukarobotics com UK KUK...

Page 82: ...82 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

Page 83: ...poration 49 50 Decommissioning 60 Dimensioned drawing 64 Dimensions transportation 67 Disposal 60 Documentation industrial robot 5 E EC declaration of conformity 50 Electrical installations 11 Electro...

Page 84: ...17 Release device 54 Release device option 73 Repair 59 Repeatability 13 14 15 16 Robot 9 Robot arm 10 Robot controller 9 49 Rotating column 10 11 S Safety 49 Safety instructions 5 Safety of machiner...

Page 85: ...85 85 Issued 08 09 2015 Version Spez KR 30 60 2 JET V1 KR 30 2 JET KR 60 2 JET...

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