Kuka KR 20-3 Скачать руководство пользователя

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Issued: 22.04.2016 Version: Spez KR 20-3 V2

KR 20-3

5.4

Overview of protective equipment .............................................................................

5.4.1

Mechanical end stops ...........................................................................................

5.4.2

Mechanical axis range limitation (optional) ...........................................................

5.4.3

Axis range monitoring (optional) ...........................................................................

5.4.4

Options for moving the manipulator without drive energy ....................................

5.4.5

Labeling on the industrial robot ............................................................................

5.5

Safety measures ........................................................................................................

5.5.1

General safety measures .....................................................................................

5.5.2

Transportation ......................................................................................................

5.5.3

Start-up and recommissioning ..............................................................................

5.5.4

Manual mode ........................................................................................................

5.5.5

Automatic mode ...................................................................................................

5.5.6

Maintenance and repair ........................................................................................

5.5.7

Decommissioning, storage and disposal ..............................................................

5.6

Applied norms and regulations ..................................................................................

Planning

........................................................................................................

6.1

Information for planning .............................................................................................

6.2

Mounting base with centering ....................................................................................

6.3

Machine frame mounting with centering ....................................................................

6.4

Connecting cables and interfaces .............................................................................

Transportation

.............................................................................................

7.1

Transporting the robot ...............................................................................................

Options

.........................................................................................................

8.1

Working range limitation, supplementary stop (optional) ...........................................

8.2

Energy supply systems (optional) ..............................................................................

KUKA Service

...............................................................................................

9.1

Requesting support ...................................................................................................

9.2

KUKA Customer Support ...........................................................................................

Index .............................................................................................................

Содержание KR 20-3

Страница 1: ...Robots KR 20 3 With C Variants Specification KUKA Roboter GmbH Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 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...

Страница 3: ...es 29 4 6 1 General information 29 4 6 2 Terms used 30 4 6 3 Stopping distances and times KR 20 3 31 4 6 3 1 Stopping distances and stopping times for STOP 0 axis 1 to axis 3 31 4 6 3 2 Stopping dista...

Страница 4: ...5 3 Start up and recommissioning 50 5 5 4 Manual mode 52 5 5 5 Automatic mode 52 5 5 6 Maintenance and repair 53 5 5 7 Decommissioning storage and disposal 54 5 6 Applied norms and regulations 54 6 Pl...

Страница 5: ...r 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 tha...

Страница 6: ...6 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

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

Страница 8: ...8 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 9: ...20 3 C An industrial robot of this product family comprises the following components Manipulator Robot controller Connecting cables KCP teach pendant KUKA smartPAD Software Options accessories 3 2 De...

Страница 10: ...line wrist and link arm The interfaces are screwed connections The coaxial one piece drive shafts for axes 4 to 6 are mounted in the arm housing Wrist axes A4 and A5 are driven by the wrist axis moto...

Страница 11: ...e RDC box and the multi function housing MFH The RDC box and MFH with the connectors for the motor and data cables are mounted on the robot base frame The connecting cables from the robot con troller...

Страница 12: ...12 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 13: ...0 3 C Technical data 4 3 Technical data KR 20 3 C Page 20 Supplementary loads 4 4 Supplementary load Page 26 Plates and labels 4 5 Plates and labels Page 27 Stopping distances and times 4 6 4 Stopping...

Страница 14: ...erature During operation 5 C to 55 C 278 K to 328 K During storage transportation 40 C to 60 C 233 K to 333 K Cable designation Connector designa tion robot controller ro bot Interface with robot Moto...

Страница 15: ...velope The following diagrams show the shape and size of the working envelope for these variants of this product family The reference point for the working envelope is the intersection of axes 4 and 5...

Страница 16: ...16 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3 Fig 4 2 Work envelope side view KR 20 3 Fig 4 3 Work envelope top view KR 20 3...

Страница 17: ...m 20 kg Rated supplementary load arm 10 kg Maximum supplementary load arm 10 kg Nominal distance to load center of gravity Lxy 100 mm Lz 120 mm Fig 4 4 Load center of gravity This loading curve corres...

Страница 18: ...ndicates the position of the locating element bushing in the zero position Fig 4 5 Payload diagram In line wrist type ZH16 2 Mounting flange see drawing Mounting flange hole circle 50 mm Screw grade 1...

Страница 19: ...7 Loads acting on the foundation floor Normal loads and maximum loads for the foundations are specified in the table The maximum loads must be referred to when dimensioning the foundations and must be...

Страница 20: ...fault color Moving parts KUKA orange 2567 Base frame cover black RAL 9005 Controller KR C4 Transformation name KR C4 KR20_3 C4 CLG ZH16_2 Humidity class EN 60204 Classification of environmental con di...

Страница 21: ...3 C Axis data The direction of motion and the arrangement of the individual axes may be not ed from the following diagram Mastering positions Range of motion A1 185 A2 155 35 A3 130 154 A4 350 A5 130...

Страница 22: ...following diagrams show the shape and size of the working envelope for these variants of this product family The reference point for the working envelope is the intersection of axes 4 and 5 Fig 4 9 Wo...

Страница 23: ...m 20 kg Rated supplementary load arm 10 kg Maximum supplementary load arm 10 kg Nominal distance to load center of gravity Lxy 100 mm Lz 120 mm Fig 4 11 Load center of gravity This loading curve corre...

Страница 24: ...dicates the position of the locating element bushing in the zero position Fig 4 12 Payload diagram In line wrist type ZH16 2 Mounting flange see drawing Mounting flange hole circle 50 mm Screw grade 1...

Страница 25: ...1 M r M r normal 2550 Nm M r max 4200 Nm Normal loads and maximum loads for the foundations are specified in the table The maximum loads must be referred to when dimensioning the foundations and must...

Страница 26: ...be careful to observe the max imum permissible total load The dimensions and positions of the installation options can be seen in the following diagram Fig 4 15 Fastening the supplementary load on the...

Страница 27: ...this robot model Fig 4 17 Location of plates and labels Item Description 1 High voltage Any improper handling can lead to contact with current carrying components Electric shock hazard 2 Hot surface...

Страница 28: ...Before start up transportation or maintenance read and follow the assembly and operating instructions 5 Transport position Before loosening the bolts of the mounting base the robot must be in the tra...

Страница 29: ...es and stopping times in accordance with DIN EN ISO 10218 1 Annex B Stop categories Stop category 0 STOP 0 Stop category 1 STOP 1 according to IEC 60204 1 The values specified for Stop 0 are guide val...

Страница 30: ...P smartPAD and can be displayed on the KCP smart PAD POV Program override velocity of the robot motion This value can be entered in the controller via the KCP smartPAD and can be displayed on the KCP...

Страница 31: ...s 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 following configuration Extension l 100 Program override POV...

Страница 32: ...32 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3 4 6 3 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 19 Stopping distances for STOP 1 axis 1...

Страница 33: ...33 81 Issued 22 04 2016 Version Spez KR 20 3 V2 4 Technical data Fig 4 20 Stopping times for STOP 1 axis 1...

Страница 34: ...34 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3 4 6 3 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 21 Stopping distances for STOP 1 axis 2...

Страница 35: ...35 81 Issued 22 04 2016 Version Spez KR 20 3 V2 4 Technical data Fig 4 22 Stopping times for STOP 1 axis 2...

Страница 36: ...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 following configuration Extension l 100 Program override POV 100 M...

Страница 37: ...37 81 Issued 22 04 2016 Version Spez KR 20 3 V2 4 Technical data 4 6 4 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 25 Stopping distances for STOP 1 axis 1...

Страница 38: ...38 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3 Fig 4 26 Stopping times for STOP 1 axis 1...

Страница 39: ...39 81 Issued 22 04 2016 Version Spez KR 20 3 V2 4 Technical data 4 6 4 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 27 Stopping distances for STOP 1 axis 2...

Страница 40: ...40 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3 Fig 4 28 Stopping times for STOP 1 axis 2...

Страница 41: ...sued 22 04 2016 Version Spez KR 20 3 V2 4 Technical data 4 6 4 4 Stopping distances and stopping times for STOP 1 axis 3 Fig 4 29 Stopping distances for STOP 1 axis 3 Fig 4 30 Stopping times for STOP...

Страница 42: ...42 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 43: ...fied 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 not...

Страница 44: ...em 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 the EC Mach...

Страница 45: ...rating 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 danger...

Страница 46: ...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 must be traine...

Страница 47: ...ion in axes 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 manipula...

Страница 48: ...bot 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 option is...

Страница 49: ...e 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 in...

Страница 50: ...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 manipulator Robot...

Страница 51: ...ed 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 the...

Страница 52: ...ken 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 inside the...

Страница 53: ...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 mainte...

Страница 54: ...t 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 the skin Avoid b...

Страница 55: ...May 1997 on the approximation of the laws of the Member States concerning pressure equipment Only applicable for robots with hydropneumatic counterbal ancing system This directive is valid until 18 0...

Страница 56: ...3 V2 KR 20 3 EN 61000 6 4 A1 Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments 2011 EN 60204 1 A1 Safety of machinery Electrical equipment of...

Страница 57: ...ontinuous vertical position of a wrist axis External forces process forces acting on the robot If one or more of these conditions are to apply during operation of the kinemat ic system KUKA Roboter Gm...

Страница 58: ...f the fol lowing standard C20 25 according to DIN EN 206 1 2001 DIN 1045 2 2008 Dimensioned drawing The following illustration Fig 6 2 provides all the necessary information on the mounting base toget...

Страница 59: ...a carriage of a KUKA linear unit The mounting surface for the robot must be machined and of an appropriate quality The robot is fastened to the machine frame mounting option using 3 hexagon bolts Two...

Страница 60: ...owing illustrations provide all the necessary information on machine frame mounting together with the required foundation data Fig 6 4 Machine frame mounting 1 Mounting surface 2 Locating pin 3 Hexago...

Страница 61: ...The following points must be observed when planning and routing the con necting cables The bending radius for fixed routing must not be less than 150 mm for mo tor cables and 60 mm for control cables...

Страница 62: ...62 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 63: ...s Remove all transport safeguards such as nails and screws in advance First remove any rust or glue on contact surfaces Transport position The transport position is the same for all robots of this mod...

Страница 64: ...a transport frame already in the correct orientation The transport frame can be picked up with a fork lift truck via the integrated fork slots or with a crane via eyebolts The combined weight of the r...

Страница 65: ...st be properly and fully installed For installation on the ceiling the robot can only be trans ported to the installation site using a fork lift truck The transport frame has two fork slots for liftin...

Страница 66: ...he robot is not damaged Installed tools and pieces of equipment can cause undesirable shifts in the center of gravity These must therefore be removed if necessary The eyebolts must be removed from the...

Страница 67: ...67 81 Issued 22 04 2016 Version Spez KR 20 3 V2 7 Transportation Fig 7 5 Transportation by crane 1 Crane 4 Fork slots 2 Lifting tackle 5 Eyebolt 3 Transport frame...

Страница 68: ...68 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 69: ...bot can be equipped with energy supply systems between axis 1 and axis 3 and between axis 3 and axis 6 The A1 interface required for this is lo cated on the rear of the base frame the A3 interface is...

Страница 70: ...70 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 71: ...d 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 modifica...

Страница 72: ...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 www robotec...

Страница 73: ...aryana 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 kuka...

Страница 74: ...7100 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 de Baz 54020...

Страница 75: ...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 19...

Страница 76: ...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 KUKA Robot Auto...

Страница 77: ...o 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 KUKA R...

Страница 78: ...78 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

Страница 79: ...omagnetic compatibility EMC 55 56 EMC Directive 44 54 55 EN 60204 1 A1 56 EN 61000 6 2 55 EN 61000 6 4 A1 56 EN 614 1 A1 55 EN ISO 10218 1 55 EN ISO 12100 55 EN ISO 13849 1 55 EN ISO 13849 2 55 EN ISO...

Страница 80: ...fety of machinery 55 56 Safety zone 45 46 Safety general 43 Service life 45 Service KUKA Roboter GmbH 71 smartPAD 30 45 49 Software 9 43 Start up 50 STOP 0 29 45 STOP 1 29 45 STOP 2 45 Stop category 0...

Страница 81: ...81 81 Issued 22 04 2016 Version Spez KR 20 3 V2 KR 20 3...

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