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Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6

Index

Index

Numbers

2004/108/EC 100
2006/42/EC 100
89/336/EEC 100
95/16/EC 100
97/23/EC 101

Accessories 11, 89
Adapter (option) 113
Ambient conditions 16
Ambient temperature, operation 16
Ambient temperature, start-up 16
Ambient temperature, storage 16
Ambient temperature, transportation 16
Angle of rotation 42
ANSI/RIA R.15.06-2012 101
Applied norms and regulations 100
Arm 12
Automatic mode 98
Axes, number 15
Axis data 17, 18
Axis data, KR 120 R2900 C extra 18
Axis data, KR 120 R2900 extra 18
Axis data, KR 180 R2500 C extra 17
Axis data, KR 180 R2500 extra 17
Axis data, KR 210 R2700 extra 17
Axis data, KR 90 R3100 18
Axis data, KR 90 R3100 C 18
Axis range 91
Axis range limitation 93
Axis range monitoring 93

Base frame 12, 13
Basic data 15
Brake defect 95
Brake release device 94
Braking distance 91

CE mark 90
Center of gravity 39, 10 9
Cleaning work 99
Connecting cables 11, 16 , 89, 106
Connecting cables, cable lengths 17
Control cable, single axis 114
Counterbalancing system 12, 13 , 100
Counterbalancing system, hydropneumatic 13

Danger zone 91
Declaration of conformity 90
Declaration of incorporation 89, 9 0
Decommissioning 100
Description of the robot system 11
Dimensions, transport 39
Dimensions, transportation 109

Disposal 100
Documentation, industrial robot 7

EC declaration of conformity 90
Electrical installations 12, 13
Electromagnetic compatibility (EMC) 101
EMC Directive 90, 100
EN 60204-1 + A1 101
EN 61000-6-2 101
EN 61000-6-4 + A1 101
EN 614-1 + A1 101
EN ISO 10218-1 101
EN ISO 12100 101
EN ISO 13849-1 101
EN ISO 13849-2 101
EN ISO 13850 101
Extension 42
External axes 89, 91

F-HP in-line wrist 35
Faults 96
Fork lift truck 110
Foundation loads 37
Foundry robots 16
Foundry, equipment 16
Function test 97

General information 41
General safety measures 95

Handling equipment 110
Hazardous substances 100

In-line wrist 12
In-line wrist, F-HP variant 12
Industrial robot 89
Intended use 90
Interface, energy supply systems 107
Interfaces 106
Introduction 7
ISO 9283, repeatability 15
ISO9409-1 2004 12

KCP 11, 91, 95
KCP, KUKA Control Panel 42
Keyboard, external 95
KUKA Customer Support 115
KUKA smartPAD 11, 91

Labeling 94
Liability 89

Содержание KR QUANTEC extra

Страница 1: ...Robots KR QUANTEC extra With F and C Variants Specification KUKA Roboter GmbH Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 2: ...se 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 which reason we are not able to guarantee total conformity The information in this documentation is checked on a regular basis how ever and necessary corrections will be incorporated in the subsequent editio...

Страница 3: ... stopping times for STOP 1 axis 1 49 4 7 4 3 Stopping distances and stopping times for STOP 1 axis 2 51 4 7 4 4 Stopping distances and stopping times for STOP 1 axis 3 53 4 7 5 Stopping distances and times KR 180 R2500 extra C 53 4 7 5 1 Stopping distances and stopping times for STOP 0 axis 1 to axis 3 53 4 7 5 2 Stopping distances and stopping times for STOP 1 axis 1 54 4 7 5 3 Stopping distances...

Страница 4: ...s and times KR 90 R3100 extra C 83 4 7 11 1 Stopping distances and stopping times for STOP 0 axis 1 to axis 3 83 4 7 11 2 Stopping distances and stopping times for STOP 1 axis 1 84 4 7 11 3 Stopping distances and stopping times for STOP 1 axis 2 86 4 7 11 4 Stopping distances and stopping times for STOP 1 axis 3 88 5 Safety 89 5 1 General 89 5 1 1 Liability 89 5 1 2 Intended use of the industrial ...

Страница 5: ...Contents 7 1 Transporting the robot 109 8 Options 113 8 1 Mounting flange adapter optional 113 8 2 Control cable for single axis optional 114 8 3 Release device optional 114 9 KUKA Service 115 9 1 Requesting support 115 9 2 KUKA Customer Support 115 Index 123 ...

Страница 6: ...6 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 7: ...event or remedy emergencies or malfunctions Hints 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 that death or severe injuries will occur if no precautions are taken These warnings mean that death or severe injuries may occur if no precautions are taken These warnings mean that minor injuries m...

Страница 8: ...8 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 9: ...nimals 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 our customers take part in a course of training at KUKA College Information about the training program can be found at www kuka com or can be ob tained directly from our subsidiaries Changing th...

Страница 10: ...10 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 11: ...900 extra KR 90 R3100 extra With the exception of the KR 210 R2700 extra the robots are available as both F HP variants foundry and C variants ceiling mounted An industrial robot of this type comprises the following components Manipulator Robot controller Connecting cables KCP teach pendant KUKA smartPAD Software Options accessories 3 2 Description of the manipulator Overview The manipulators robo...

Страница 12: ...her specifications in terms of resistance to temperature dust and corrosion F HP variant in line wrists meet the requirements of IP67 Arm The arm is the link between the in line wrist and the link arm It houses the mo tors of wrist axes 4 and 5 The arm is driven by the motor of axis 3 The max imum permissible swivel angle is mechanically limited by a stop for each direction plus and minus The asso...

Страница 13: ...is used The system consists of two accumulators a hydraulic cylinder with associated hos es a pressure gauge and a bursting disc as a safety element to protect against overload The accumulators are classified below category I fluid group 2 of the Pressure Equipment Directive Different variants of the counterbalancing system are used for floor and ceiling mounted robots and for the F variants The m...

Страница 14: ...14 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 15: ...83 0 06 mm Working envelope ref erence point Intersection of axes 4 and 5 Weight KR 210 R2700 extra approx 1068 kg KR 180 R2500 extra approx 1059 kg KR 150 R2700 extra approx 1068 kg KR 120 R2900 extra approx 1084 kg KR 90 R3100 extra approx 1092 kg Principal dynamic loads See Foundation loads Protection rating of the robot IP65 Ready for operation with connecting cables plugged in according to EN...

Страница 16: ...inish on wrist Heat resistant and heat reflecting silver paint fin ish on the in line wrist Special paint finish on the robot Special paint finish on the entire robot and an additional protective clear coat Other ambient condi tions KUKA Roboter GmbH must be consulted if the robot is to be used under other ambient condi tions Operation 283 K to 328 K 100 C to 55 C Storage and transpor tation 233 K...

Страница 17: ...Range of motion software limited Speed with rated payload 1 185 123 s 2 5 to 140 115 s 3 155 to 120 112 s 4 350 179 s 5 125 172 s 6 350 219 s Axis Range of motion software limited Speed with rated payload 1 185 123 s 2 5 to 140 115 s 3 155 to 120 120 s 4 350 179 s 5 125 172 s 6 350 219 s Axis Range of motion software limited Speed with rated payload 1 185 123 s 2 6 to 140 115 s 3 155 to 120 120 s ...

Страница 18: ...to 120 120 s 4 350 179 s 5 125 172 s 6 350 219 s Axis Range of motion software limited Speed with rated payload 1 185 123 s 2 5 to 140 115 s 3 155 to 120 120 s 4 350 292 s 5 125 258 s 6 350 284 s Axis Range of motion software limited Speed with rated payload 1 185 123 s 2 5 to 140 115 s 3 155 to 120 120 s 4 350 292 s 5 125 258 s 6 350 284 s Axis Range of motion software limited Speed with rated pa...

Страница 19: ...19 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data The reference point for the working envelope is the intersection of axes 4 and 5 Fig 4 1 Working envelope KR 210 R2700 extra ...

Страница 20: ...20 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Valid for F HP in line wrist Fig 4 2 Working envelope KR 180 R2500 extra ...

Страница 21: ...21 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Valid for F HP in line wrist Fig 4 3 Working envelope KR 180 R2500 C extra ...

Страница 22: ...22 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Valid for F HP in line wrist Fig 4 4 Working envelope KR 150 R2700 extra ...

Страница 23: ...23 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Valid for F HP in line wrist Fig 4 5 Working envelope KR 150 R2700 C extra ...

Страница 24: ...24 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Valid for F HP in line wrist Fig 4 6 Working envelope KR 120 R2900 extra ...

Страница 25: ...25 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Valid for F HP in line wrist Fig 4 7 Working envelope KR 120 R2900 C extra ...

Страница 26: ...26 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Valid for F HP in line wrist Fig 4 8 Working envelope KR 90 R3100 extra ...

Страница 27: ...NTEC extra V6 4 Technical data Valid for F HP in line wrist 4 3 Payloads The following data apply to the corresponding robots irrespective of the instal lation position C variant or equipment F variant Fig 4 9 Working envelope KR 90 R3100 C extra ...

Страница 28: ...ad center of gravity Lxy vertical 270 mm Permissible mass moment of inertia 90 kgm2 Max total load 230 kg Supplementary load arm 50 kg Supplementary load link arm On request Supplementary load rotating column On request Supplementary load base frame On request Robot KR 150 R2700 extra In line wrist IW 150 180 210 Rated payload 150 kg Distance of the load center of gravity Lz horizontal 240 mm Dist...

Страница 29: ...nertia 45 kgm2 Max total load 140 kg Supplementary load arm 50 kg Supplementary load link arm On request Supplementary load rotating column On request Supplementary load base frame On request This loading curve corresponds to the maximum load ca pacity Both values payload and mass moment of iner tia must be checked in all cases Exceeding this capacity will reduce the service life of the robot and ...

Страница 30: ...30 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 10 Payload diagram ...

Страница 31: ...31 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 11 Payload diagram ...

Страница 32: ...32 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 12 Payload diagram ...

Страница 33: ...33 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 13 Payload diagram ...

Страница 34: ... symbol Xm indicates the position of the locating element bush ing in the zero position Fig 4 14 Payload diagram In line wrist type IW 90 120 IW 150 180 210 Mounting flange hole circle 125 mm Screw grade 10 9 Screw size M10 Number of fastening screws 11 Grip length 1 5 x nominal diameter Depth of engagement min 12 mm max 16 mm Locating element 10H7 Standard See illustration Fig 4 15 ...

Страница 35: ... 1 Fitting length Robot type KR 180 R2500 F HP extra KR 180 R2500 C F HP extra KR 150 R2700 F HP extra KR 150 R2700 C F HP extra KR 120 R2900 F HP extra KR 120 R2900 C F HP extra KR 90 R3100 F HP extra KR 90 R3100 C F HP extra In line wrist type IW 90 120 F HP IW 150 180 210 F HP Mounting flange hole circle 160 mm Screw grade A4 80 Screw size M10 Number of fastening threads 23 Grip length 1 5 x no...

Страница 36: ...tes the position of the locating element bush ing in the zero position This adapter can be fitted on the 90 120 and 150 180 210 kg in line wrists to convert them to a mounting flange with D 160 The ref erence point for the load center of gravity remains unchanged i e the same as for the mounting flange of the in line wrist Fig 4 16 Mounting flange D 160 for F HP in line wrist 1 Fitting length 2 Th...

Страница 37: ...he maximum per missible total load The dimensions and positions of the installation options can be seen in the following diagram 4 4 Foundation loads Foundation loads The specified forces and moments already include the payload and the inertia force weight of the robot Fig 4 17 Mounting flange adapter 1 Fitting length Fig 4 18 Supplementary load arm 1 Fastening thread 3 Mounting surface 2 Interfer...

Страница 38: ...Mr normal 10 200 Nm Mr max 35 000 Nm Total mass for foundation load KR 210 R2700 extra 1 328 kg KR 180 R2500 extra 1 289 kg KR 150 R2700 extra 1 268 kg KR 120 R2900 extra 1 254 kg KR 90 R3100 extra 1 232 kg Robot KR 210 R2700 extra 1 068 kg KR 180 R2500 extra 1 059 kg KR 150 R2700 extra 1 068 kg KR 120 R2900 extra 1 084 kg KR 90 R3100 extra 1 092 kg Total load suppl load on arm rated payload KR 21...

Страница 39: ... plates and labels must be replaced 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 adhered to for safety reasons Failure to observe this can result in personal injury and damage to property The normal loads are average expected foundation loads The actual loads are dependent on the pr...

Страница 40: ...t Plate or label Description 1 Hot surface During operation of the robot surface temperatures may be reached that could result in burn injuries Protective gloves must be worn 3 High voltage Any improper handling can lead to con tact with current carrying components Electric shock hazard 3 Secure the axes Before exchanging any motor secure the corresponding axis through safe guarding by suitable me...

Страница 41: ... with DIN EN ISO 10218 1 Annex B Stop categories Stop category 0 STOP 0 Stop category 1 STOP 1 5 Danger zone Entering the danger zone of the robot is prohibited if the robot is in operation or ready for operation Risk of injury 6 Transport position Before loosening the bolts of the mount ing base the robot must be in the trans port position as indicated in the table Risk of toppling 7 Mounting fla...

Страница 42: ...he brakes varies depending on the operating mode robot application and the number of STOP 0 triggered It is therefore advisable to check the stopping distance at least once a year 4 7 2 Terms used Term Description m Mass of the rated load and the supplementary load on the arm Phi Angle of rotation about the corresponding axis This value can be entered in the controller via the KCP and is displayed...

Страница 43: ...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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 22 Extension Stopping distance Stopping time s Axis 1 42 00 1 043 Axis 2 25 00 0 867 Axis 3 21 00 0 534 ...

Страница 44: ...44 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 3 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 23 Stopping distances for STOP 1 axis 1 ...

Страница 45: ...45 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 24 Stopping times for STOP 1 axis 1 ...

Страница 46: ...46 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 3 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 25 Stopping distances for STOP 1 axis 2 ...

Страница 47: ...47 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 26 Stopping times for STOP 1 axis 2 ...

Страница 48: ...P 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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 27 Stopping distances for STOP 1 axis 3 Fig 4 28 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1 19...

Страница 49: ...49 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 4 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 29 Stopping distances for STOP 1 axis 1 ...

Страница 50: ...50 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 30 Stopping times for STOP 1 axis 1 ...

Страница 51: ...51 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 4 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 31 Stopping distances for STOP 1 axis 2 ...

Страница 52: ...52 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 32 Stopping times for STOP 1 axis 2 ...

Страница 53: ...TOP 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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 33 Stopping distances for STOP 1 axis 3 Fig 4 34 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1 ...

Страница 54: ...54 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 5 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 35 Stopping distances for STOP 1 axis 1 ...

Страница 55: ...55 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 36 Stopping times for STOP 1 axis 1 ...

Страница 56: ...56 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 5 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 37 Stopping distances for STOP 1 axis 2 ...

Страница 57: ...57 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 38 Stopping times for STOP 1 axis 2 ...

Страница 58: ...OP 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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 39 Stopping distances for STOP 1 axis 3 Fig 4 40 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1 8...

Страница 59: ...59 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 6 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 41 Stopping distances for STOP 1 axis 1 ...

Страница 60: ...60 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 42 Stopping times for STOP 1 axis 1 ...

Страница 61: ...61 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 6 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 43 Stopping distances for STOP 1 axis 2 ...

Страница 62: ...62 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 44 Stopping times for STOP 1 axis 2 ...

Страница 63: ...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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 45 Stopping distances for STOP 1 axis 3 Fig 4 46 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1...

Страница 64: ...64 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 7 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 47 Stopping distances for STOP 1 axis 1 ...

Страница 65: ...65 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 48 Stopping times for STOP 1 axis 1 ...

Страница 66: ...66 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 7 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 49 Stopping distances for STOP 1 axis 2 ...

Страница 67: ...67 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 50 Stopping times for STOP 1 axis 2 ...

Страница 68: ...P 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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 51 Stopping distances for STOP 1 axis 3 Fig 4 52 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1 79...

Страница 69: ...69 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 8 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 53 Stopping distances for STOP 1 axis 1 ...

Страница 70: ...70 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 54 Stopping times for STOP 1 axis 1 ...

Страница 71: ...71 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 8 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 55 Stopping distances for STOP 1 axis 2 ...

Страница 72: ...72 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 56 Stopping times for STOP 1 axis 2 ...

Страница 73: ...OP 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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 57 Stopping distances for STOP 1 axis 3 Fig 4 58 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1 7...

Страница 74: ...74 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 9 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 59 Stopping distances for STOP 1 axis 1 ...

Страница 75: ...75 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 60 Stopping times for STOP 1 axis 1 ...

Страница 76: ...76 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 9 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 61 Stopping distances for STOP 1 axis 2 ...

Страница 77: ...77 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 62 Stopping times for STOP 1 axis 2 ...

Страница 78: ...OP 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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 63 Stopping distances for STOP 1 axis 3 Fig 4 64 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1 8...

Страница 79: ...79 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 10 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 65 Stopping distances for STOP 1 axis 1 ...

Страница 80: ...80 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 66 Stopping times for STOP 1 axis 1 ...

Страница 81: ...81 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data 4 7 10 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 67 Stopping distances for STOP 1 axis 2 ...

Страница 82: ...82 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra Fig 4 68 Stopping times for STOP 1 axis 2 ...

Страница 83: ...TOP 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 following configuration Extension l 100 Program override POV 100 Mass m maximum load rated load supplementary load on arm Fig 4 69 Stopping distances for STOP 1 axis 3 Fig 4 70 Stopping times for STOP 1 axis 3 Stopping distance Stopping time s Axis 1 ...

Страница 84: ...84 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 11 2 Stopping distances and stopping times for STOP 1 axis 1 Fig 4 71 Stopping distances for STOP 1 axis 1 ...

Страница 85: ...85 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 72 Stopping times for STOP 1 axis 1 ...

Страница 86: ...86 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 11 3 Stopping distances and stopping times for STOP 1 axis 2 Fig 4 73 Stopping distances for STOP 1 axis 2 ...

Страница 87: ...87 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 4 Technical data Fig 4 74 Stopping times for STOP 1 axis 2 ...

Страница 88: ... 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra 4 7 11 4 Stopping distances and stopping times for STOP 1 axis 3 Fig 4 75 Stopping distances for STOP 1 axis 3 Fig 4 76 Stopping times for STOP 1 axis 3 ...

Страница 89: ... 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 robot will not cause personal injuries or material damage No modifications may be carried out to the industrial robot without the autho rization of KUKA Roboter GmbH Additional components tools software etc n...

Страница 90: ...ystem 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 Machinery Directive have been added to the industrial robot The complete system complies with the EC Machinery Directive This has been confirmed by means of an assessment of conformity Declaration of c...

Страница 91: ...or operating 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 zone smartPAD Teach pendant for the KR C4 The smartPAD has all the operator control and display functions required for operating and programming the industrial robot Stop category 0 The drives a...

Страница 92: ...Issuing 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 trained for the work to be carried out Work on the industrial robot must only be carried out by qualified person nel These are people who due to their specialist training knowledge and experience and...

Страница 93: ... 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 manipulators that are not designed to be fitted with mechanical axis range limitation the workspace must be laid out in such a way that there is no danger to persons or material property even in the absence of mech...

Страница 94: ...ustrial robot 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 not available for the KR C4 This option is not available for all robot models Information on specific robot models can be ob tained from KUKA Roboter GmbH The system user is responsible for ...

Страница 95: ...l mouse 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 the danger zone The KCP smartPAD must not be used as long as an external keyboard and or external mouse are connected to the control cabinet The external keyboard and or external mouse must be r...

Страница 96: ...ion must be 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 controller The prescribed transport position of the robot controller must be observed Transportation must be carried out in accordance with the operating instruc tions or assembly instructi...

Страница 97: ...rchanged 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 connecting cables to the manipulators and their corresponding robot controllers If additional components e g cables which are not part of the scope of supply of KUKA Roboter GmbH are integrated...

Страница 98: ...st be taken 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 safeguarded ar ea the following must be observed Each person must have an enabling device All persons must have an unimpeded view of the industrial robot Eye contact between all persons must ...

Страница 99: ...rk is 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 maintenance or repair work they must be reactivated immediately after the work is completed Faulty components must be replaced using new components with the same article numbers or equivalent componen...

Страница 100: ...y be carried out 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 breathing in oil spray or vapors Clean skin and apply skin cream 5 5 7 Decommissioning storage and disposal The industrial robot must be decommissioned stored and disposed of in ac corda...

Страница 101: ...SO 13849 2 Safety of machinery Safety related parts of control systems Part 2 Validation 2012 EN ISO 12100 Safety of machinery General principles of design risk assessment and risk reduc tion 2010 EN ISO 10218 1 Industrial robots Safety Note Content equivalent to ANSI RIA R 15 06 2012 Part 1 2011 EN 614 1 A1 Safety of machinery Ergonomic design principles Part 1 Terms and general prin ciples 2009 ...

Страница 102: ...102 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 103: ...n or screed between the bedplates and the concrete founda tion The minimum dimensions 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 specific construction regulations There must be no layers of insulation or screed between the bedplates and the concrete foundation The quality of the concre...

Страница 104: ...es are safely transmitted to the foundation ob serve the dimensions for concrete foundations specified in the following illus tration Fig 6 2 Mounting base dimensioned drawing 1 Robot 2 Bedplate 3 Concrete foundation Fig 6 3 Cross section of foundations 1 Bedplate 3 Pin 2 Concrete foundation 4 Hexagon bolt ...

Страница 105: ... It must be ensured that the substructure is able to withstand safely the 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 mounting assembly consists of Pins with fasteners Hexagon bolts with conical spring washers Dimensioned drawing The following illu...

Страница 106: ... are available The maximum length of the connecting cables must not exceed 50 m Thus if the robot is operated on a linear unit which has its own energy supply chain these cables must also be taken into account For the connecting cables an additional ground conductor is always required to provide a low resistance connection between the robot and the control cab inet in accordance with DIN EN 60204 ...

Страница 107: ...mpatibility EMC Interface for energy supply systems The robot can be equipped with an energy supply system between axis 1 and axis 3 and a second energy supply system between axis 3 and axis 6 The A1 interface required for this is located on the rear of the base frame the A3 in terface is located on the side of the arm and the interface for axis 6 is located on the robot tool Depending on the appl...

Страница 108: ...108 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 109: ...vance First remove any rust or glue on contact surfaces Transport position The robot must be in the transport position Fig 7 1 before it can be transported The robot is in the transport position when the axes are in the fol lowing positions Transport dimen sions The transport dimensions Fig 7 2 for the robot can be noted from the following diagram The position of the center of gravity and the weig...

Страница 110: ... M16 DIN 580 eyebolts All the legs must be routed as shown in the following illustration so that the robot is not damaged Installed tools and items of equip ment can cause undesirable shifts in the center of gravity Items of equipment especially energy supply systems must be removed to the extent necessary to avoid them being damaged by the legs of the lifting tackle during transpor tation All the...

Страница 111: ...using lifting tackle special care must be ex ercised to prevent it from tipping Additional safeguarding measures must be taken It is forbidden to pick up the robot in any other way using a crane Fig 7 4 Transportation using lifting tackle 1 Lifting tackle assembly 2 Leg G3 3 Leg G1 4 Leg G2 5 M16 eyebolt base frame front left 6 M16 eyebolt base frame front right 7 M16 eyebolt rotating column rear ...

Страница 112: ...112 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 113: ...pter is mounted the distance between the intersection of A4 A5 and the face of the mounting flange is offset forward by 25 mm The reference point for the load center of gravity remains unchanged and thus corresponds to the values for the in line wrist IW 150 180 210 The mounting flange is depicted Fig 8 1 with axes 4 and 6 in the zero position The symbol Xm indicates the position of the locating e...

Страница 114: ...ice optional Description The release device can be used to move the manipulator manually after an ac cident or malfunction The release device can be used for the motors of axes 1 to 5 It cannot be used for axis 6 as this motor is not accessible It is only for use in exceptional circumstances and emergencies e g for freeing people The release device is mounted on the base frame of the manipulator T...

Страница 115: ...odel and 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 tions Diagnostic package KrcDiag Additionally for KUKA Sunrise Existing projects including applications For versions of KUKA System Software older than V8 Archive of the software KrcDiag is not...

Страница 116: ... 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 robotec robotec cl www robotec cl China KUKA Robotics China Co Ltd No 889 Kungang Road Xiaokunshan Town Songjiang District 201614 Shanghai P R China Tel 86 21 5707 2688 Fax 86 21 5707 2603 info kuka robotics cn www kuk...

Страница 117: ...rgaon 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 kuka kuka it www kuka it Japan KUKA Robotics Japan K K YBP Technical Center 134 Godo cho Hodogaya ku Yokohama Kanagawa 240 0005 Japan Tel 81 45 744 7691 Fax 81 45 744 7696 info kuka co jp Canada KUKA Rob...

Страница 118: ...n Puchong 47100 Puchong Selangor Malaysia Tel 60 03 8063 1792 Fax 60 03 8060 7386 info kuka com my Mexico KUKA de México S de R L de C V Progreso 8 Col Centro Industrial Puente de Vigas Tlalnepantla de Baz 54020 Estado de México Mexico Tel 52 55 5203 8407 Fax 52 55 5203 8148 info kuka com mx www kuka robotics com mexico Norway KUKA Sveiseanlegg Roboter Sentrumsvegen 5 2867 Hov Norway Tel 47 61 18 ...

Страница 119: ...ra n 50 Armazém 04 2910 011 Setúbal Portugal Tel 351 265 729780 Fax 351 265 729782 kuka mail telepac pt Russia KUKA Robotics RUS Werbnaja ul 8A 107143 Moskau Russia Tel 7 495 781 31 20 Fax 7 495 781 31 19 info kuka robotics ru www kuka robotics ru Sweden KUKA Svetsanläggningar Robotar AB A Odhners gata 15 421 30 Västra Frölunda Sweden Tel 46 31 7266 200 Fax 46 31 7266 201 info kuka se Switzerland ...

Страница 120: ...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 KUKA Robot Automation M SdnBhd Thailand Office c o Maccall System Co Ltd 49 9 10 Soi Kingkaew 30 Kingkaew Road Tt Rachatheva A Bangpli Samutprakarn 10540 Thailand Tel 66 2 7502737 Fax 66 2 6612355 atika ...

Страница 121: ...031 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 com www kukarobotics com UK KUKA Robotics UK Ltd Great Western Street Wednesbury West Midlands WS10 7LL UK Tel 44 121 505 9970 Fax 44 121 505 6589 service kuka robotics co uk www kuka robotics co uk ...

Страница 122: ...122 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 123: ...xis 114 Counterbalancing system 12 13 100 Counterbalancing system hydropneumatic 13 D Danger zone 91 Declaration of conformity 90 Declaration of incorporation 89 90 Decommissioning 100 Description of the robot system 11 Dimensions transport 39 Dimensions transportation 109 Disposal 100 Documentation industrial robot 7 E EC declaration of conformity 90 Electrical installations 12 13 Electromagnetic...

Страница 124: ...y 42 Protection rating in line wrist 15 Protection rating robot 15 Protective circuit 13 Protective equipment overview 93 Purpose 9 R Reaction distance 91 Recommissioning 96 Reference point 15 Relative air humidity 16 Release device 94 Release device option 114 Repair 99 Repeatability 15 Robot controller 11 89 Robot system 11 Rotating column 12 13 S Safety 89 Safety instructions 7 Safety of machin...

Страница 125: ...125 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 Index W Warnings 7 Weight 15 Working range limitation 93 Workspace 91 92 ...

Страница 126: ...126 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

Страница 127: ...127 127 Issued 18 06 2015 Version Spez KR QUANTEC extra V6 KR QUANTEC extra ...

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