Kuka KR 30 HA, Руководство по сборке

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Assembly Instructions
30 of 122
MA KR 30, 60 HA, KR C4 04.11.02 en
Notice!
Concerning Fig. 14 to Fig. 16:
These loading curves and the values in the table correspond to the maximum
load capacity. Both values (payload and principal moment of inertia) must be
checked in all cases. Exceeding this capacity will reduce the service life of the
robot and generally overload the motors and the gears; in any such case KUKA
must be consulted beforehand.
Information!
The values determined here are necessary for planning the application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.
--X
Lz
Lx
Ly
+X
--Y
+Y
+Z
--Z
Load center of gravity
Lxy
Lxy
=
L

x 2
+
Ly 2
Robot flange coordinate system
Permissible mass inertia at the
design point
(Lxy = 180 mm,
Lz = 150 mm)
9 kgm
2
.
CAUTION: The mass inertia must be
verified using KUKA Load. It is
imperative for the load data to be
entered in the controller!
Lxy (mm)
100 200 300 400 500 700 600
100
200
300
400
Lz (mm)
500
A4
A5
A6
KR 30 HA
KR 60 L30 HA
30 kg
27 kg
24 kg
21 kg
18 kg
15 kg
13 kg
Fig. 14 Load center of gravity P and loading curves for KR 30 HA; KR 60 L30 HA