Kuka KR AGILUS sixx Assembly Instructions Manual Download Page 135

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Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)

10 KUKA Service

Poland

KUKA Roboter Austria GmbH
Spó

ka z ograniczon

odpowiedzialno

Oddzia

w Polsce

Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]

Portugal

KUKA Sistemas de Automatización S.A.
Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
[email protected]

Russia

OOO KUKA Robotics Rus
Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru

Sweden

KUKA Svetsanlägg Robotar AB
A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]

Switzerland

KUKA Roboter Schweiz AG
Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

Summary of Contents for KR AGILUS sixx

Page 1: ...Robots KR AGILUS sixx With W and C Variants Assembly Instructions KUKA Roboter GmbH Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF...

Page 2: ...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 whic...

Page 3: ...2 50 4 10 3 4 Stopping distances and stopping times for STOP 1 axis 3 52 4 10 4 Stopping distances and times KR 6 R900 sixx W 52 4 10 4 1 Stopping distances and stopping times for STOP 0 axis 1 to axi...

Page 4: ...orage and disposal 84 5 6 Applied norms and regulations 84 6 Planning 87 6 1 Mounting base 87 6 2 Machine frame mounting 89 6 3 Connecting cables and interfaces 90 6 4 Customer interfaces 91 7 Transpo...

Page 5: ...tion of substance formulation and manufacturer 123 9 2 2 2 Composition Information about the components 124 9 2 2 3 Possible hazards 124 9 2 2 4 First aid measures 124 9 2 2 5 Fire fighting measures 1...

Page 6: ...6 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx...

Page 7: ...unctions Notes These hints serve to make your work easier or contain references to further information 1 3 Terms used These warnings mean that it is certain or highly probable that death or severe inj...

Page 8: ...KR AGILUS sixx V8 en PDF KR AGILUS sixx RDC Resolver Digital Converter smartPAD The smartPAD teach pendent has all the opera tor control and display functions required for operating and programming th...

Page 9: ...d use is deemed to be imper missible misuse This includes e g Transportation of persons and animals Use as a climbing aid Operation outside the permissible operating parameters Use in potentially expl...

Page 10: ...10 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx...

Page 11: ...lable as W and C variants wall mounted and ceiling mounted versions An industrial robot of this type comprises the following components Manipulator Robot controller smartPAD teach pendant Connecting c...

Page 12: ...axis 2 The supply lines of the energy sup ply system and the cable set for axes 2 to 6 are routed through the link arm Rotating column A1 The rotating column houses the motors of axes 1 and 2 The rot...

Page 13: ...base frame The con necting cables from the robot controller are connected here by means of con nectors The electrical installations also include a protective circuit Options The robot can be fitted an...

Page 14: ...14 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx...

Page 15: ...Stopping distances 4 10 3 Stopping distances and times KR 6 R900 sixx Page 47 4 10 4 Stopping distances and times KR 6 R900 sixx W Page 52 KR 10 sixx KR 10 R900 sixx KR 10 R900 sixx KR 10 R900 sixx W...

Page 16: ...mm KR 6 R900 sixx C 0 03 mm Working envelope ref erence point Intersection of axes 4 and 5 Weight approx 52 kg KR 6 R900 sixx approx 52 kg KR 6 R900 sixx W approx 52 kg KR 6 R900 sixx C approx 52 kg...

Page 17: ...axes may be not ed from the diagram Fig 4 1 Cable designation Connector designation robot controller robot Interface with robot Motor cable X20 X30 Han Yellock 30 Data cable X21 X31 Han Q12 CAT5 data...

Page 18: ...3 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx Working envelope The following diagram Fig 4 2 shows the shape and size of the work ing envelope for the robot KR 6 R900 sixx Fig 4 1 Direction of...

Page 19: ...28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data The following diagram Fig 4 3 shows the shape and size of the work ing envelope for the robot KR 6 R900 sixx W Fig 4 2 Working envelope...

Page 20: ...Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx The following diagram Fig 4 4 shows the shape and size of the work ing envelope for the robot Fig 4 3 Working envelope KR 6 R900 s...

Page 21: ...21 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data KR 6 R900 sixx C Fig 4 4 Working envelope KR 6 R900 sixx C...

Page 22: ...fer to the payload diagram for the nominal distance Payload diagram Permissible mass inertia at the design point Lx Ly Lz is 0 045 kgm The following figure Fig 4 5 shows payload diagram for the follow...

Page 23: ...duce 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 for planning the r...

Page 24: ...When mounting the supplementary loads be careful to observe the maximum permissible total load The dimen sions and positions of the installation options can be seen in the following di agram The follo...

Page 25: ...tion of the installation options on the link arm and rotating column for the following robots KR 6 R900 sixx KR 6 R900 sixx W KR 6 R900 sixx C Fig 4 7 Supplementary load on arm and in line wrist 1 Sup...

Page 26: ...ng moment Mkmax 788 Nm Mkmax 1152 Nm Mr torque Mrmax 367 Nm Mrmax 880 Nm Total mass for load acting on the mounting base KR 6 R900 sixx 58 kg Robot KR 6 R900 sixx 52 kg Total load for mounting base lo...

Page 27: ...0 05 mm KR 10 R1100 sixx W 0 05 mm KR 10 R1100 sixx C 0 05 mm Working envelope ref erence point Intersection of axes 4 and 5 Weight KR 10 R900 sixx approx 52 kg KR 10 R900 sixx W approx 52 kg KR 10 R9...

Page 28: ...valid for the robots KR 10 R900 sixx KR 10 R900 sixx W KR 10 R900 sixx C KR 10 R1100 sixx KR 10 R1100 sixx W KR 10 R1100 sixx C Operation 278 K to 318 K 5 C to 45 C No condensation permissible Storage...

Page 29: ...ot ed from the diagram Fig 4 10 Working envelope The following diagram Fig 4 11 shows the shape and size of the work ing envelope for the robot KR 10 R900 sixx Axis Range of motion software limited Sp...

Page 30: ...8 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx The following diagram Fig 4 12 shows the shape and size of the work ing envelope for the robot KR 10 R900 sixx W Fig 4 11 Working envelope...

Page 31: ...ssued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data The following diagram Fig 4 13 shows the shape and size of the work ing envelope for the robot Fig 4 12 Working envelope KR 10 R90...

Page 32: ...32 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx KR 10 R900 sixx C Fig 4 13 Working envelope KR 10 R900 sixx C...

Page 33: ...03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data The following diagram Fig 4 14 shows the shape and size of the work ing envelope for the robot KR 10 R1100 sixx Fig 4 14 Working envelope...

Page 34: ...34 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx The following diagram Fig 4 15 shows the shape and size of the work ing envelope for the robot KR 10 R1100 sixx W...

Page 35: ...sued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data The following diagram Fig 4 16 shows the shape and size of the work ing envelope for the robot Fig 4 15 Working envelope KR 10 R110...

Page 36: ...36 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx KR 10 R1100 sixx C Fig 4 16 Working envelope KR 10 R1100 sixx C...

Page 37: ...the nominal distance Payload diagram Permissible mass inertia at the design point Lx Ly Lz is 0 045 kgm The following figure Fig 4 17 shows payload diagram for the following robots KR 10 R900 sixx KR...

Page 38: ...Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx The following figure Fig 4 18 shows payload diagram for the following robots KR 10 R1100 sixx KR 10 R1100 sixx W KR 10 R1100 sixx C Fig 4 17 Payload...

Page 39: ...in any such case the KUKA Roboter GmbH must be consulted beforehand The values determined here are necessary for planning the robot application For commissioning the robot additional input data are re...

Page 40: ...ening holes are used for fastening the covers or external energy supply systems When mounting the supplementary loads be careful to observe the maximum permissible total load The dimen sions and posit...

Page 41: ...on of the installation options on the link arm and rotating column for the following robots KR 10 R900 sixx KR 10 R900 sixx W KR 10 R900 sixx C Fig 4 20 Supplementary load on arm and in line wrist 1 S...

Page 42: ...e wrist for the following robots KR 10 R1100 sixx KR 10 R1100 sixx W KR 10 R1100 sixx C The following figure Fig 4 23 shows the dimensions and position of the installation options on the link arm and...

Page 43: ...KR 10 sixx Loads acting on the mounting base The specified forces and moments already include the maximum payload and the inertia force weight of the robot Fig 4 23 Supplementary load on link arm and...

Page 44: ...max 367 Nm Mrmax 880 Nm Total mass for load acting on the mounting base KR 10 R900 sixx 62 kg KR 10 R1100 sixx 65 kg Robot KR 10 R900 sixx 52 kg KR 10 R1100 sixx 55 kg Total load for mounting base loa...

Page 45: ...t from the moment the stop signal is triggered until the robot comes to a complete standstill The stopping time is the time that elapses from the moment the stop signal is triggered until the robot co...

Page 46: ...ere measured using the robot internal measur ing technique The wear on the brakes varies depending on the operating mode robot application and the number of STOP 0 triggered It is therefore advisable...

Page 47: ...Stopping distances and stopping times for STOP 0 axis 1 to axis 3 The table shows the stopping distances and stopping times after a STOP 0 category 0 stop is triggered The values refer to the followin...

Page 48: ...48 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 3 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 27 Stopping distances for STOP 1 axis 1...

Page 49: ...49 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 28 Stopping times for STOP 1 axis 1...

Page 50: ...50 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 3 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 29 Stopping distances for STOP 1 axis 2...

Page 51: ...51 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 30 Stopping times for STOP 1 axis 2...

Page 52: ...ing robots KR 6 R900 sixx W 4 10 4 1 Stopping distances and stopping times for STOP 0 axis 1 to axis 3 The table shows the stopping distances and stopping times after a STOP 0 category 0 stop is trigg...

Page 53: ...53 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Stopping distance Stopping time s Axis 1 163 11 0 745 Axis 2 67 78 0 404 Axis 3 60 96 0 387...

Page 54: ...54 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 4 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 33 Stopping distances for STOP 1 axis 1...

Page 55: ...55 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 34 Stopping times for STOP 1 axis 1...

Page 56: ...56 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 4 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 35 Stopping distances for STOP 1 axis 2...

Page 57: ...57 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 36 Stopping times for STOP 1 axis 2...

Page 58: ...are valid for the following ro bots KR 10 R900 sixx KR 10 R900 sixx C KR 10 R1100 sixx KR 10 R1100 sixx C 4 10 5 1 Stopping distances and stopping times for STOP 0 axis 1 to axis 3 The table shows th...

Page 59: ...28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Mass m maximum load rated load supplementary load on arm Stopping distance Stopping time s Axis 1 106 21 0 536 Axis 2 96 06 0 647 Axis...

Page 60: ...60 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 5 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 39 Stopping distances for STOP 1 axis 1...

Page 61: ...61 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 40 Stopping times for STOP 1 axis 1...

Page 62: ...62 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 5 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 41 Stopping distances for STOP 1 axis 2...

Page 63: ...63 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 42 Stopping times for STOP 1 axis 2...

Page 64: ...for the following ro bots KR 10 R900 sixx W KR 10 R1100 sixx W 4 10 6 1 Stopping distances and stopping times for STOP 0 axis 1 to axis 3 The table shows the stopping distances and stopping times aft...

Page 65: ...65 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Stopping distance Stopping time s Axis 1 163 11 0 745 Axis 2 67 78 0 404 Axis 3 60 96 0 387...

Page 66: ...66 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 6 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 45 Stopping distances for STOP 1 axis 1...

Page 67: ...67 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 46 Stopping times for STOP 1 axis 1...

Page 68: ...68 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 6 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 47 Stopping distances for STOP 1 axis 2...

Page 69: ...69 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 4 Technical data Fig 4 48 Stopping times for STOP 1 axis 2...

Page 70: ...28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx 4 10 6 4 Stopping distances and stopping times for STOP 1 axis 3 Fig 4 49 Stopping distances for STOP 1 axis 3 Fig 4 50 Stopping times for...

Page 71: ...t be rectified 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 robo...

Page 72: ...are met The industrial robot is integrated into a complete system Or The industrial robot together with other machinery constitutes a com plete system Or All safety functions and safeguards required...

Page 73: ...evant components are also subject to ageing during storage KCP The KCP KUKA Control Panel teach pendant has all the operator con trol and display functions required for operating and programming the i...

Page 74: ...following tasks Installing the industrial robot Connecting the industrial robot Performing risk assessment Implementing the required safety functions and safeguards Issuing the declaration of conform...

Page 75: ...ists of the workspace and the stopping distances of the manipulator and external axes optional It must be safeguarded by means of physical safeguards to prevent danger to persons or the risk of materi...

Page 76: ...echanical end stops can be installed on the external axes 5 4 2 Mechanical axis range limitation optional Some manipulators can be fitted with mechanical axis range limitation in axes A1 to A3 The adj...

Page 77: ...lease device can be used for the main axis drive motors and de pending on the robot variant also for the wrist axis drive motors Brake release device option The brake release device is designed for ro...

Page 78: ...All plates labels symbols and marks constitute safety relevant parts of the in dustrial robot They must not be modified or removed Labeling on the industrial robot consists of Identification plates Wa...

Page 79: ...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 in the danger zone The KCP...

Page 80: ...be observed Transportation must be carried out in accordance with the operating instruc tions or assembly instructions of the robot controller Avoid vibrations and impacts during transportation in ord...

Page 81: ...udes Jog mode Teach Programming Program verification The following must be taken into consideration in manual mode If the drives are not required they must be switched off to prevent the ma nipulator...

Page 82: ...one There must be no other persons inside the safeguarded area It is the re sponsibility of the operator to ensure this 5 5 5 Automatic mode Automatic mode is only permissible in compliance with the f...

Page 83: ...switched off To prevent life threatening injuries no work may be carried out on the industrial robot in this time Water and dust must be prevented from entering the robot controller Counterbal ancing...

Page 84: ...ean Parliament and of the Council of 17 May 2006 on machinery and amending Directive 95 16 EC recast 2006 2004 108 EC EMC Directive Directive 2004 108 EC of the European Parliament and of the Council...

Page 85: ...6 EN 61000 6 2 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity for industrial envi ronments 2005 EN 61000 6 4 Electromagnetic compatibility EMC Part 6 4 Generic standards Emissio...

Page 86: ...86 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx...

Page 87: ...ing operation The minimum di mensions must be observed Grade of concrete for foundations When producing foundations from concrete observe the load bearing capac ity of the ground and the country speci...

Page 88: ...S sixx To ensure that the anchor forces are safely transmitted to the foundation ob serve the dimensions for concrete foundations specified in the following illus tration Fig 6 3 Fig 6 2 Dimensioned d...

Page 89: ...he forces occurring during operation foundation loads The following diagram contains all the necessary information that must be observed when preparing the mounting surface Fig 6 4 The machine frame m...

Page 90: ...s between the robot and the robot controller They are connected to the ro bot junction boxes with connectors The set of connecting cables comprises Motor cable Data cable CAT5 data cable optional Conn...

Page 91: ...installed indoors Observe permissible temperature range fixed installation of 263 K 10 C to 343 K 70 C Route the motor cables and the control cables separately in metal ducts if necessary additional...

Page 92: ...ontains a silencer and several plug in couplings Fig 6 9 Fig 6 7 Customer interface A1 1 MicroEMD connection X32 2 Connection for data cable CAT5 XPN1 3 Air line connection AIR2 4 Air line connection...

Page 93: ...supply system Fig 6 9 Connector bypack option 1 Silencer 2 Push in fitting Designation Limit values Valve type 4 2 way solenoid valve Max pressure 7 bar Switching frequency 10 Hz Operating temperatur...

Page 94: ...uts for valve activation 6 DO7 to DO12 Valve 1 DO7 DO10 Valve 2 DO8 DO11 Valve 3 DO9 DO12 not short circuit proof Rated voltage 24 V DC 15 20 Output current max 25 mA The inputs and outputs are not pr...

Page 95: ...tage 24 V DC 15 20 Output current Max 0 5 A Short circuit current Max 2 A Load type Ohmic inductive Lamp load Digital inputs for customer interface X41 6 DI1 to DI6 Signal voltage 0 3 V 5 V EN 61131 2...

Page 96: ...xx V8 en PDF KR AGILUS sixx Connection XPN41 Connection AIR2 Customer specific air connection with the following values Fig 6 12 Wiring diagram connection XPN41 Designation Limit values Max pressure 7...

Page 97: ...move any corrosion or glue on contact surfaces Transport position The robot must be in the transport position before it can be transported Fig 7 1 The robot is in the transport position when the axes...

Page 98: ...sion MA KR AGILUS sixx V8 en PDF KR AGILUS sixx The following transport dimensions Fig 7 3 are valid for the robots KR 10 R1100 sixx KR 10 R1100 sixx W KR 10 R1100 sixx C Fig 7 2 Transport dimensions...

Page 99: ...desirable shifts in the center of gravity Fig 7 3 Transport dimensions 1 Robot 2 Center of gravity Use of unsuitable handling equipment may result in dam age to the robot or injury to persons Only use...

Page 100: ...100 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx Fig 7 4 Transportation using lifting tackle 1 Crane 3 Link arm 2 Lifting tackle 4 Rotating column...

Page 101: ...e the leveling compound readily at hand Special tools The following special tools are required Drill with a 14 mm bit Setting tool approved by the anchor manufacturer Procedure 1 Determine the positio...

Page 102: ...g the machine frame mounting assembly Description The machine frame mounting is used for installing robots on a steel structure prepared by the customer Precondition The mounting surface is prepared a...

Page 103: ...ground conductors are routed to the robot and installed Procedure 1 Check that the pins are undamaged and fitted securely Fig 8 3 2 Bring the robot to the installation site with the crane 3 Carefully...

Page 104: ...ng Attachment The Load Lifting Attachment must then be removed The installation and start up of the robot controller the tools mounted and the applications are not described here Precondition The mach...

Page 105: ...5 6 Fasten the swivel holders to the rear of the base frame with 2 M12x30 Al len screws and washers MA 40 Nm 7 Lock the swivel holders to the Load Lifting Attachment with 2 M12x30 Allen screws and was...

Page 106: ...in order to prevent slipping 12 Position the robot on the wall using the fork lift truck Ensure that an entire ly horizontal position is maintained in order to prevent damage to the pins 13 Unscrew 2...

Page 107: ...lts and washers at the top Tighten the hexagon bolts alternately with torque wrench Gradually in crease the tightening torque to 45 Nm 17 Unscrew 2 M12x30 Allen screws bottom Allen screws and washers...

Page 108: ...the system component and the ro bot to the ground conductor connection 24 Mount tooling if present 25 Retighten the 4 hexagon bolts with a torque wrench after 100 hours of op eration Put the robot sys...

Page 109: ...ed persons are required for performing this task Procedure 1 Bring the robot to the installation site with the crane and set it down 2 Carefully push the Load Lifting Attachment onto the base frame of...

Page 110: ...12 Position the robot on the ceiling using the fork lift truck Ensure that an en tirely vertical position is maintained in order to prevent damage to the pins 13 Unscrew 2 M12x30 Allen screws rear Al...

Page 111: ...from the front of the base frame 18 Carefully push the Load Lifting Attachment down from the back of the base frame with the fork lift truck 19 Fasten the robot to the ceiling with 2 M10x35 hexagon b...

Page 112: ...KSS and the Start up chapter of the operating instructions for the robot con troller 8 6 Description of the connecting cables Configuration The connecting cables are used to transfer power and signal...

Page 113: ...r nal axes A7 and A8 can be ordered as an option XP7 XP7 1 XP8 XP8 1 Connector M17 in each case Ground conductor equi potential bonding can be ordered as an option Ring cable lug M4 For the connecting...

Page 114: ...114 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx Fig 8 17 Connecting cable motor cable X20 X30...

Page 115: ...115 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 8 Start up and recommissioning Fig 8 18 Connecting cable data cable X21 X31...

Page 116: ...116 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx Fig 8 19 Connecting cable data cable CAT5 X65 X66 XPN1...

Page 117: ...ssued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF 8 Start up and recommissioning Fig 8 20 Connecting cable external axes A7 and A8 Fig 8 21 Connecting cable ground conductor 1 Ground conductor 2 Lo...

Page 118: ...axes wrist axes via the selection switch on the brake release device 4 Press the button on the hand held device The brakes of the main axes or wrist axes are released and the robot can be moved manua...

Page 119: ...8 10 9 12 9 M1 6 0 17 Nm 0 24 Nm 0 28 Nm M2 0 35 Nm 0 48 Nm 0 56 Nm M2 5 0 68 Nm 0 93 Nm 1 10 Nm M3 1 2 Nm 1 6 Nm 2 0 Nm M4 2 8 Nm 3 7 Nm 4 4 Nm M5 5 6 Nm 7 5 Nm 9 0 Nm M6 9 5 Nm 12 5 Nm 15 0 Nm M8 2...

Page 120: ...ations Injection into the skin due to contact with a product under high pressure constitutes a major medical emergency Within a few hours the tissue swells up and becomes discolored and extremely pain...

Page 121: ...h hands before breaks and at the end of work Store work clothes sepa rately Change contaminated clothing The usual precautions when handling chemicals must be observed Respiratory protection Not neces...

Page 122: ...lis Oral toxicity analogy observation LD50 2 000 mg kg rat Epidermal toxicity analogy observation One ingredient of the grease may cause weak skin irritation in the case of frequent or excessive conta...

Page 123: ...l ICAO IATA Not hazardous ICAO IATA class UN ID no Packing list Fire classification Water hazard classification WGK 1 Notes for the reader The information given here is based on the current state of o...

Page 124: ...health hazards Not classified as dangerous Environmental hazards Harmful to aquatic organisms may cause long term adverse effects in the aquatic environment Effects and symptoms Eyes May cause mild ey...

Page 125: ...suitable protective equipment see 9 2 2 8 Exposure limits and personal protective equip ment Page 125 Follow all fire fighting procedures see 9 2 2 5 Fire fighting measures Page 125 Environmental prec...

Page 126: ...with chemicals Most protective gloves only provide protection for a short period of time after which they must be disposed of and replaced As the specific working conditions and the chemi cals concern...

Page 127: ...ed product European Waste Catalog EWC Waste code 12 01 12 Used waxes and greases Used contaminated product European Waste Catalog EWC Waste code 12 01 12 Used waxes and greases Packaging European Wast...

Page 128: ...y cause long term adverse effects in the aquatic envi ronment Miscellaneous provisions Inventories AUSTRALIAN INVENTORY AICS In compliance CANADIAN INVENTORY DSL Not determined CHINESE INVENTORY IECSC...

Page 129: ...lications specified without prior con sultation with us It is the user s obligation to evaluate and use this product safely and to comply with all applicable laws and regulations The BP Group accepts...

Page 130: ...130 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx...

Page 131: ...ftware Optional software or modifications Archive of the software For KUKA System Software V8 instead of a conventional archive gener ate the special data package for fault analysis via KrcDiag Applic...

Page 132: ...nardo do Campo SP 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 r...

Page 133: ...urgaon 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 ku...

Page 134: ...elangor Malaysia Tel 60 3 8061 0613 or 0614 Fax 60 3 8061 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 de Baz 54020 Estado...

Page 135: ...to da Guerra n 50 Armaz m 04 2910 011 Set bal Portugal Tel 351 265 729780 Fax 351 265 729782 kuka mail telepac pt Russia OOO KUKA Robotics Rus Webnaja ul 8A 107143 Moskau Russia Tel 7 495 781 31 20 Fa...

Page 136: ...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 137: ...36 24 501609 Fax 36 24 477031 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...

Page 138: ...138 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx...

Page 139: ...sioning 84 Description manipulator 11 Disposal 84 Documentation industrial robot 7 Dynamic principal loads 16 27 E EC declaration of conformity 72 EMC Directive 72 84 EN 60204 1 85 EN 61000 6 2 85 EN...

Page 140: ...AD 8 11 73 Software 11 71 Sound level 16 27 Start up 80 101 STOP 0 46 73 STOP 1 46 73 STOP 2 73 Stop category 0 73 Stop category 1 73 Stop category 2 73 Stop signal 45 Stopping distance 45 73 76 Stopp...

Page 141: ...141 141 Issued 28 03 2013 Version MA KR AGILUS sixx V8 en PDF KR AGILUS sixx...

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