Kuka KR 30 HA, Руководство по сборке

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Assembly Instructions
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MA KR 30, 60 HA, KR C4 04.11.02 en
Pose repeatability KR 30 HA
±
0.05 mm
(ISO 9283) KR 60 HA
±
0.05 mm
KR 60 L45 HA
±
0.05 mm
KR 60 L30 HA
±
0.05 mm
Mounting position floor, ceiling
Floor--mounted and ceiling--mounted manipulators must be
calibrated for the respective installation position.
Principal dimensions see Fig. 18 and Fig. 19.
Working envelope The shape and dimensions of the working envelope may be
noted from Fig. 18 and Fig. 19.
Volume of working envelope KR 30 HA approx. 27.24 m
3
KR 60 HA approx. 27.24 m
3
KR 60 L45 HA approx. 36.89 m
3
KR 60 L30 HA approx. 47.78 m
3
The reference point is the intersection of axes 4 and 5.
Load center of gravity P see Fig. 14 to Fig. 16.
For the rated payload, the horizontal distance of the load
center of gravity P from the face of the mounting flange is
150 mm; the vertical distance from rotational axis 6 is
120 mm (nominal distance in each case).
Weight KR 30 HA approx. 665 kg
KR 60 HA approx. 665 kg
KR 60 L45 HA approx. 671 kg
KR 60 L30 HA approx. 679 kg
Principal dynamic loads See Fig. 21
Drive system Electromechanical, with transistor--controlled AC servomo-
tors.
Installed motor capacity approx. 14.9 kW
Protection classification of the robot
IP 64
ready for operation, with connecting cables plugged in
(according to EN 60529).
Protection classification of the in--line wrist
(standard) IP 65 (according to EN 60529)