Kuka KR AGILUS sixx, Руководство по сборке

Страница: 3 / 141

3 / 141
Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
Contents
1 Introduction
.................................................................................................. 7
1.1 Industrial robot documentation ................................................................................... 7
1.2 Representation of warnings and notes ...................................................................... 7
1.3 Terms used ................................................................................................................ 7
2 Purpose
........................................................................................................ 9
2.1 Target group .............................................................................................................. 9
2.2 Intended use .............................................................................................................. 9
3 Product description
..................................................................................... 11
3.1 Overview of the robot system .................................................................................... 11
3.2 Description of the manipulator ................................................................................... 11
4 Technical data
.............................................................................................. 15
4.1 Basic data, KR 6 sixx ................................................................................................. 16
4.2 Axis data, KR 6 sixx ................................................................................................... 17
4.3 Payloads, KR 6 sixx ................................................................................................... 22
4.4 Mounting base data, KR 6 sixx .................................................................................. 26
4.5 Basic data, KR 10 sixx ............................................................................................... 27
4.6 Axis data, KR 10 sixx ................................................................................................. 28
4.7 Payloads, KR 10 sixx ................................................................................................. 37
4.8 Mounting base data, KR 10 sixx ................................................................................ 43
4.9 Plates and labels ........................................................................................................ 44
4.10 Stopping distances and times .................................................................................... 45
4.10.1 General information .............................................................................................. 45
4.10.2 Terms used ........................................................................................................... 46
4.10.3 Stopping distances and times, KR 6 R900 sixx ................................................... 47
4.10.3.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 47
4.10.3.2 Stopping distances and stopping times for STOP 1, axis 1 ............................. 48
4.10.3.3 Stopping distances and stopping times for STOP 1, axis 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 axis 3 .............. 52
4.10.4.2 Stopping distances and stopping times for STOP 1, axis 1 ............................. 54
4.10.4.3 Stopping distances and stopping times for STOP 1, axis 2 ............................. 56
4.10.4.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. 58
4.10.5 Stopping distances and times, KR 10 R900 sixx and KR 10 R1100 sixx ............. 58
4.10.5.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 58
4.10.5.2 Stopping distances and stopping times for STOP 1, axis 1 ............................. 60
4.10.5.3 Stopping distances and stopping times for STOP 1, axis 2 ............................. 62
4.10.5.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. 64
4.10.6 Stopping distances and times, KR 10 R900 sixx W and KR 10 R1100 sixx W .... 64
4.10.6.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 64
4.10.6.2 Stopping distances and stopping times for STOP 1, axis 1 ............................. 66
4.10.6.3 Stopping distances and stopping times for STOP 1, axis 2 ............................. 68
4.10.6.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. 70
5 Safety
............................................................................................................ 71
5.1 General ...................................................................................................................... 71
Contents