Kuka KR 300-2 PA Assembly Instructions Manual
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Kuka KR 300-2 PA Assembly Instructions Manual

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KUKA Roboter GmbH
Robots
KR 300-2 PA, KR 470-2 PA
Assembly Instructions
Issued: 16.03.2016
Version: MA KR 300 470-2 PA V5

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Summary of Contents for Kuka KR 300-2 PA

  • Page 1 KUKA Roboter GmbH Robots KR 300-2 PA, KR 470-2 PA Assembly Instructions KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5...
  • Page 2 KR 300-2 PA, KR 470-2 PA © Copyright 2016 KUKA Roboter GmbH Zugspitzstraße 140 D-86165 Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH. Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work.

  • Page 3: Table Of Contents

    Contents Contents Introduction ....................Industrial robot documentation ................... Representation of warnings and notes ..............Purpose ......................Target group ......................Intended use ......................Product description ..................Overview of the robot system ..................Description of the robot ....................Technical data ....................Basic data ........................Axis data ........................
  • Page 4 KR 300-2 PA, KR 470-2 PA 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 .............. Applied norms and regulations ..................

  • Page 5: Introduction

    1 Introduction Introduction Industrial robot documentation The industrial robot documentation consists of the following parts: Documentation for the manipulator  Documentation for the robot controller  Operating and programming instructions for the System Software  Instructions for options and accessories ...
  • Page 6 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 6 / 125...

  • Page 7: Purpose

     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.
  • Page 8 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 8 / 125...

  • Page 9: Product Description

     Fig. 3-1: Robot system KR 300, 470-2 PA Robot KR C4 robot controller Connecting cables Teach pendant KCP (KUKA smartPAD) Description of the robot This robot is designed as a 5-axis jointed-arm kinematic system. The structural Overview components of the robots are made of light alloy and iron castings. The axes are driven by AC servomotors.
  • Page 10 KR 300-2 PA, KR 470-2 PA Fig. 3-2: KR 300 470-2 PA: main assemblies Wrist Electrical installations Base frame Link arm Rotating column Counterbalancing system The robot variants KR 300 PA and KR 470 PA robots are equipped with a two- Wrist axis wrist for rated payloads of 300 kg and 470 kg, respectively.
  • Page 11 3 Product description The link arm is the assembly located between the arm and the rotating column. Link arm It is mounted on one side of the rotating column via the gear unit of axis 2 and is driven by an AC servomotor. During motion about axis 2, the link arm moves about the stationary rotating column.
  • Page 12 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 12 / 125...

  • Page 13: Technical Data

    Other temperature limits available on request. Ambient conditions DIN EN 60721-3-3, Class 3K3 Further information about temperatures, duty cycle, set-up, etc. can be ob- tained from KUKA Technical Support. No restrictions in operating mode T1. Connecting Cable designation Connector designa- Interface with robot cables...

  • Page 14: Axis Data

    For detailed specifications of the connecting cables, see (>>> 6.4 "Con- necting cables and interfaces" Page 58). Axis data The following data are valid for the robot KR 300-2 PA. Axis data Range of motion, software- Speed with Axis limited rated payload +/-185°...
  • Page 15 4 Technical data Fig. 4-1: Direction of rotation of robot axes The diagram (>>> Fig. 4-2 ) shows the shape and size of the working enve- Working lope. envelope The reference point for the working envelope is the intersection of axis 6 with the mounting flange face.

  • Page 16: Payloads

    KR 300-2 PA, KR 470-2 PA Fig. 4-2: Working envelope: KR 300 470 PA Payloads Payloads Robot KR 300-2 PA KR 470-2 PA Wrist Hollow-shaft Hollow-shaft wrist wrist Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 16 / 125...
  • Page 17 6. Refer to the payload diagram for the nominal gravity P distance. Payload diagram Fig. 4-3: Payload diagram for KR 300-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 17 / 125...
  • Page 18 KUKA System Software. The mass inertia must be verified using KUKA.Load. It is imperative for the load data to be entered in the robot controller! Fig. 4-4: Payload diagram for KR 470-2 PA...
  • Page 19 4 Technical data The mounting flange is depicted (>>> Fig. 4-5 ) with axis 6 in the zero posi- tion. The symbol X indicates the position of the locating element (bushing) in the zero position. Fig. 4-5: Mounting flange Fitting length Disruptive contour of screw heads The robot can carry supplementary loads on the arm.

  • Page 20: Mounting Base Data

    KR 300-2 PA, KR 470-2 PA Fig. 4-6: Supplementary load on arm Axis 3 Interference contour on right Fastening thread Mounting base data The specified forces and moments already include the payload and the inertia Loads acting on force (weight) of the robot.

  • Page 21: Transport Dimensions

    4 Technical data Type of load Force/torque/mass = tilting moment = 47,000 Nm k normal = 84,500 Nm k max = torque = 20,500 Nm r normal = 45,500 Nm r max Total mass for foundation load for KR 300 PA: 2,290 kg for KR 470: 2,410 kg Robot 1,940 kg...

  • Page 22: Plates And Labels

    KR 300-2 PA, KR 470-2 PA Fig. 4-8: Transport dimensions Robot Center of gravity Fork slots Plates and labels The following plates and labels are attached to the robot. They must not be re- Plates and labels moved or rendered illegible. Illegible plates and labels must be replaced.
  • Page 23 4 Technical data Item Description High voltage Any improper handling can lead to contact with current-carrying components. Electric shock hazard! Hot surface During operation of the robot, surface temperatures may be reached that could result in burn injuries. Protective gloves must be worn! Secure the axes Before exchanging any motor or counterbalancing system, secure...
  • Page 24 KR 300-2 PA, KR 470-2 PA Item Description Work on the robot Before start-up, transportation or maintenance, read and follow the assembly and operating instructions. Transport position Before loosening the bolts of the mounting base, the robot must be in the transport position as indicated in the table. Risk of toppling!

  • Page 25: Stopping Distances And Times

    4 Technical data Item Description Counterbalancing system The system is pressurized with oil and nitrogen. Read and follow the assembly and operating instructions before commencing work on the counterbalancing system. Risk of injury! Mounting flange on in-line wrist The values specified on this plate apply for the installation of tools on the mounting flange of the wrist and must be observed.

  • Page 26: Terms Used

    KR 300-2 PA, KR 470-2 PA The values specified for Stop 0 are guide values determined by means of  tests and simulation. They are average values which conform to the re- quirements of DIN EN ISO 10218-1. The actual stopping distances and stopping times may differ due to internal and external influences on the braking torque.

  • Page 27: Stopping Distance And Stopping Times For Kr 300 Pa

    4 Technical data Fig. 4-10: Extension 4.7.3 Stopping distance and stopping times for KR 300 PA 4.7.3.1 Stopping distances and stopping times for 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.

  • Page 28: Stopping Distances And Stopping Times For Stop 1, Axis 1

    KR 300-2 PA, KR 470-2 PA 4.7.3.2 Stopping distances and stopping times for STOP 1, axis 1 Fig. 4-11: Stopping distances for STOP 1, axis 1 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 28 / 125...
  • Page 29 4 Technical data Fig. 4-12: Stopping times for STOP 1, axis 1 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 29 / 125...

  • Page 30: Stopping Distances And Stopping Times For Stop 1, Axis 2

    KR 300-2 PA, KR 470-2 PA 4.7.3.3 Stopping distances and stopping times for STOP 1, axis 2 Fig. 4-13: Stopping distances for STOP 1, axis 2 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 30 / 125...
  • Page 31 4 Technical data Fig. 4-14: Stopping times for STOP 1, axis 2 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 31 / 125...

  • Page 32: Stopping Distances And Stopping Times For Stop 1, Axis 3

    KR 300-2 PA, KR 470-2 PA 4.7.3.4 Stopping distances and stopping times for STOP 1, axis 3 Fig. 4-15: Stopping distances for STOP 1, axis 3 Fig. 4-16: Stopping times for STOP 1, axis 3 4.7.4 Stopping distance and stopping times for KR 470 PA 4.7.4.1...

  • Page 33: Stopping Distances And Stopping Times For Stop 1, Axis 1

    4 Technical data 4.7.4.2 Stopping distances and stopping times for STOP 1, axis 1 Fig. 4-17: Stopping distances for STOP 1, axis 1 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 33 / 125...
  • Page 34 KR 300-2 PA, KR 470-2 PA Fig. 4-18: Stopping times for STOP 1, axis 1 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 34 / 125...

  • Page 35: Stopping Distances And Stopping Times For Stop 1, Axis 3

    4 Technical data 4.7.4.3 Stopping distances and stopping times for STOP 1, axis 3 Fig. 4-19: Stopping distances for STOP 1, axis 3 Fig. 4-20: Stopping times for STOP 1, axis 3 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 35 / 125...

  • Page 36: Stopping Distances And Stopping Times For Stop 1, Axis 2

    KR 300-2 PA, KR 470-2 PA 4.7.4.4 Stopping distances and stopping times for STOP 1, axis 2 Fig. 4-21: Stopping distances for STOP 1, axis 2 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 36 / 125...
  • Page 37 4 Technical data Fig. 4-22: Stopping times for STOP 1, axis 2 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 37 / 125...
  • Page 38 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 38 / 125...

  • Page 39: Safety

    No modifications may be carried out to the industrial robot without the autho- rization of KUKA Roboter GmbH. Additional components (tools, software, etc.), not supplied by KUKA Roboter GmbH, may be integrated into the indus- trial robot. The user is liable for any damage these components may cause to the industrial robot or to other material property.

  • Page 40: Intended Use Of The Industrial Robot

    KR 300-2 PA, KR 470-2 PA 5.1.2 Intended use of the industrial robot The industrial robot is intended exclusively for the use designated in the “Pur- pose” chapter of the operating instructions or assembly instructions. Any use or application deviating from the intended use is deemed to be misuse and is not allowed.

  • Page 41: Terms Used

    External axis Motion axis which is not part of the manipulator but which is controlled using the robot controller, e.g. KUKA linear unit, turn-tilt table, Posiflex. Personnel The following persons or groups of persons are defined for the industrial robot: User ...

  • Page 42: Workspace, Safety Zone And Danger Zone

    KR 300-2 PA, KR 470-2 PA Personnel  All persons working with the industrial robot must have read and un- derstood the industrial robot documentation, including the safety chapter. The user must observe the labor laws and regulations. This includes e.g.: User The user must comply with his monitoring obligations.

  • Page 43: Overview Of Protective Equipment

    The manipulator must be taken out of operation and KUKA Roboter GmbH must be consulted before it is put back into operation .

  • Page 44: Options For Moving The Manipulator Without Drive Energy

    Information about the options available for the various robot models and about how to use them can be found in the assembly and oper- ating instructions for the robot or requested from KUKA Roboter GmbH. Moving the manipulator without drive energy can dam- age the motor brakes of the axes concerned.

  • Page 45: Safety Measures

    5 Safety Safety measures 5.5.1 General safety measures The industrial robot may only be used in perfect technical condition in accor- dance with its intended use and only by safety-conscious persons. Operator errors can result in personal injury and damage to property. It is important to be prepared for possible movements of the industrial robot even after the robot controller has been switched off and locked out.

  • Page 46: Transportation

    Avoid vibrations and impacts during transportation in order to prevent damage to the robot controller. The prescribed transport position of the external axis (e.g. KUKA linear unit, External axis turn-tilt table, positioner) must be observed. Transportation must be carried...
  • Page 47 If additional components (e.g. cables), which are not part of the scope of supply of KUKA Roboter GmbH, are integrated into the industrial robot, the user is responsible for ensuring that these components do not adversely affect or disable safety functions.

  • Page 48: Manual Mode

    KR 300-2 PA, KR 470-2 PA 5.5.4 Manual mode Manual mode is the mode for setup work. Setup work is all the tasks that have to be carried out on the industrial robot to enable automatic operation. Setup work includes: Jog mode ...

  • Page 49: Maintenance And Repair

    Death or severe injuries may result. Faulty components must be replaced using new components with the same article numbers or equivalent components approved by KUKA Roboter GmbH for this purpose. Cleaning and preventive maintenance work is to be carried out in accordance with the operating instructions.

  • Page 50: Decommissioning, Storage And Disposal

    KR 300-2 PA, KR 470-2 PA Some robot variants are equipped with a hydropneumatic, spring or gas cylin- Counterbal- der counterbalancing system. ancing system The hydropneumatic and gas cylinder counterbalancing systems are pressure equipment and, as such, are subject to obligatory equipment monitoring and the provisions of the Pressure Equipment Directive.
  • Page 51 5 Safety 2004 2004/108/EC EMC Directive: Directive 2004/108/EC of the European Parliament and of the Council of 15 December 2004 on the approximation of the laws of the Member States concerning electromagnetic com- patibility This directive is valid until 19/04/2016. 2014 2014/68/EC Pressure Equipment Directive:...
  • Page 52 KR 300-2 PA, KR 470-2 PA 2011 EN 61000-6-4 + A1 Electromagnetic compatibility (EMC): Part 6-4: Generic standards; Emission standard for industrial environments 2009 EN 60204-1 + A1 Safety of machinery: Electrical equipment of machines - Part 1: General require- ments Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5...

  • Page 53: Planning

    6 Planning Planning Mounting base for 175 mm concrete thickness The mounting base (>>> Fig. 6-1 ) with centering is used when the robot is Description fastened to the floor, i.e. directly on a concrete foundation. The mounting base consists of: Plate ...
  • Page 54 KR 300-2 PA, KR 470-2 PA Fig. 6-2: Mounting base, dimensioned drawing To ensure that the anchor forces are safely transmitted to the foundation, ob- serve the dimensions for concrete foundations specified in the following illus- tration (>>> Fig. 6-3 ).

  • Page 55: Mounting Base For 200 Mm Concrete Thickness

    6 Planning Mounting base for 200 mm concrete thickness The mounting base for 200 mm concrete thickness (>>> Fig. 6-4 ) is used Description when the robot is fastened to the floor, i.e. directly on a concrete foundation with a thickness of at least 200 mm. The mounting base with centering consists of: Bedplates ...
  • Page 56 KR 300-2 PA, KR 470-2 PA Fig. 6-5: Mounting base 200 mm, dimensioned drawing Robot contour Bedplates To ensure that the anchor forces are safely transmitted to the foundation, ob- serve the dimensions for concrete foundations specified in the following illus- tration.

  • Page 57: Machine Frame Mounting

    (pedestal) or a KUKA linear unit. It must be ensured that the substructure is able to with- stand safely the forces occurring during operation (foundation loads). The fol- lowing diagram contains all the necessary information that must be observed when preparing the mounting surface.

  • Page 58: Connecting Cables And Interfaces

    KR 300-2 PA, KR 470-2 PA Fig. 6-8: Machine frame mounting, dimensioned drawing Hexagon bolt (8x) Sword pin Mounting surface Connecting cables and interfaces The connecting cables comprise all the cables for transferring energy and sig- Connecting nals between the robot and the robot controller. They are connected to the ro-...
  • Page 59 6 Planning The ground conductors are connected via ring cable lugs. Wiring diagrams, connector pin allocations and connector designations can be found in the section “Description of the connecting cables”. The following points must be observed when planning and routing the con- necting cables: The bending radius for fixed routing –...
  • Page 60 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 60 / 125...

  • Page 61: Transportation

    7 Transportation Transportation Transporting the robot Before transporting the robot, always move the robot into its transport position (>>> Fig. 7-1 ). It must be ensured that the robot is stable while it is being transported. The robot must remain in its transport position until it has been fastened in position.
  • Page 62 KR 300-2 PA, KR 470-2 PA Fig. 7-2: Transport dimensions Robot Center of gravity Fork slots The robot can be transported by fork lift truck or using lifting tackle. Transportation Use of unsuitable handling equipment may result in dam- age to the robot or injury to persons. Only use authorized handling equipment with a sufficient load-bearing capacity.
  • Page 63 7 Transportation Fig. 7-3: Transportation by fork lift truck The robot can also be transported using lifting tackle (>>> Fig. 7-4 ). The ro- Transportation bot must be in the transport position. The lifting tackle is attached at 3 points using lifting to M20 DIN 580 eyebolts.
  • Page 64 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 64 / 125...

  • Page 65: Start-Up And Recommissioning

    8 Start-up and recommissioning Start-up and recommissioning Mounting base for 175 mm concrete thickness The mounting base (>>> Fig. 8-1 ) with centering is used when the robot is Description fastened to the floor, i.e. directly on a concrete foundation. The mounting base consists of: Plate ...
  • Page 66 KR 300-2 PA, KR 470-2 PA Fig. 8-2: Mounting base, dimensioned drawing To ensure that the anchor forces are safely transmitted to the foundation, ob- serve the dimensions for concrete foundations specified in the following illus- tration (>>> Fig. 8-3 ).

  • Page 67: Mounting Base For 200 Mm Concrete Thickness

    8 Start-up and recommissioning Mounting base for 200 mm concrete thickness The mounting base for 200 mm concrete thickness (>>> Fig. 8-4 ) is used Description when the robot is fastened to the floor, i.e. directly on a concrete foundation with a thickness of at least 200 mm.
  • Page 68 KR 300-2 PA, KR 470-2 PA Fig. 8-5: Mounting base 200 mm, dimensioned drawing Robot contour Bedplates To ensure that the anchor forces are safely transmitted to the foundation, ob- serve the dimensions for concrete foundations specified in the following illus- tration.

  • Page 69: Installing The Machine Frame Mounting Assembly

    (pedestal) or a KUKA linear unit. It must be ensured that the substructure is able to with- stand safely the forces occurring during operation (foundation loads). The fol- lowing diagram contains all the necessary information that must be observed when preparing the mounting surface.
  • Page 70 KR 300-2 PA, KR 470-2 PA washers are used for fastening the robot to the bedplates or to a machine frame. Pins and sword pins are provided to ensure correct positioning. The mounting surface has been prepared for the robot.

  • Page 71: Description Of The Connecting Cables

    Put the robot system into operation in accordance with the “Start-up” chapter of the operating and programming instructions for the KUKA System Software (KSS) and the “Start-up” chapter of the operating instructions for the robot con- troller.
  • Page 72 KR 300-2 PA, KR 470-2 PA Fig. 8-10: Connecting cable, motor cable, X20.1 - X30.1 Fig. 8-11: Wiring diagram, motor cable X20.1 - X30.1 Fig. 8-12: Connecting cable, motor cable, X20.4 - X30.4 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5...
  • Page 73 8 Start-up and recommissioning Fig. 8-13: Wiring diagram, motor cable X20.4-X30.4 Fig. 8-14: Connecting cable, data cable X21 - X31 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 73 / 125...
  • Page 74 KR 300-2 PA, KR 470-2 PA Fig. 8-15: Connecting cable, wiring diagram, data cable X21 - X31 Fig. 8-16: Connecting cable, ground conductor Ground conductor Conical spring washer Hexagon nut Robot Conical spring washer 2x Setscrew Plain washer 2x Ground conductor connection,...

  • Page 75: Options

    9 Options Options Release device (optional) The release device can be used to move the manipulator manually after an ac- Description cident or malfunction. The release device can be used for all the motors. It is only for use in exceptional circumstances and emergencies (e.g. for freeing people).
  • Page 76 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 76 / 125...

  • Page 77: Appendix

    10 Appendix Appendix 10.1 Tightening torques The following tightening torques (Nm) are valid for screws and nuts where no Tightening other specifications are given. torques The specified values apply to lightly oiled black (e.g. phosphated) and coated (e.g. mech.galv., zinc flake coatings) screws and nuts. Strength class Screw thread 10.9...
  • Page 78 KR 300-2 PA, KR 470-2 PA Name of substance/preparation Article no.: 020195 Lubricating grease Use: Manufacturer designation Company: Klüber Lubrication München AG Geisenhausenerstr. 7 Address: Postal code: D-81379 Munich Country: Germany +49 (0)89 7876 0 Phone: +49 (0)89 7876 333...
  • Page 79 10 Appendix Do not induce vomiting. If the person is unconscious, do not Ingestion: give anything by mouth. Consult a physician immediately. Notes to physician: Treatment should in general be symptomic and directed at relieving any effects. Note regarding high-pressure applications. Injection into the skin due to contact with a product under high pressure constitutes a major medical emergency.
  • Page 80 KR 300-2 PA, KR 470-2 PA Prevent contact with skin or clothing. Spilled and leaked product Handling: must be prevented from coming into contact with soil and sur- face waters. Wash thoroughly after handling. Keep containers tightly sealed. Keep containers in a cool, well- Storage: ventilated area.

  • Page 81: Safety Data Sheet For Castrol Hyspin Zz 46 Hydraulic Oil

    The product may only be used for the scope of work specified above; any other use requires prior consultation with KUKA. Using the product for any purpose other than for its designated use could lead to risks which are not described in this document.
  • Page 82 KR 300-2 PA, KR 470-2 PA Section 1 Designation of substance/formulation and manufacturer Name of substance/preparation Product name: Castrol Hyspin ZZ 46 450828 SDS no.: Hydraulic oil Use of substance or formu- lation: For specific instructions for use, see the corresponding techni- cal data sheet or contact a company representative.
  • Page 83 10 Appendix Do NOT induce vomiting unless explicitly directed to do so by Ingestion: medical personnel. Never give anything by mouth to an uncon- scious person. If large quantities of this product have been swallowed, call a physician immediately. Treatment should in general be symptomic and directed at Notes to physician: relieving any effects.
  • Page 84 KR 300-2 PA, KR 470-2 PA Wash thoroughly after handling. Handling: Keep containers tightly sealed. Keep containers in a cool, well- Storage: ventilated area. Prolonged exposure to increased temperatures. Unsuitable: Section 8 Exposure limits and personal protective equipment Ingredient name: Threshold limit values (TLV) acc.
  • Page 85 10 Appendix Personal protective equipment Respiratory organs: Respiratory protection is not normally required where there is adequate natural or local exhaust ventilation to control expo- sure. Where there is insufficient ventilation, wear suitable respi- ratory equipment. Respiratory protection equipment must be checked in order to ensure a correct fit every time it is used.
  • Page 86 KR 300-2 PA, KR 470-2 PA Section 11 Toxicological information Acute toxicity: Unlikely to cause more than transient stinging or redness if acci- dental eye contact occurs. Unlikely to cause harm to the skin on brief or occasional con- tact. Prolonged or repeated exposure may dry out the skin and lead to dermatitis.

  • Page 87: Safety Data Sheet For Rv Oil Sb150 Lubricating Oil

    10 Appendix Labeling requirements Risk (R) phrases: This product is not classified according to the Dangerous Sub- stances Order / EU regulations. EU regulations: Classification and labeling have been performed according to EU directives 1999/45/EC and 67/548/EEC as amended and adapted.
  • Page 88 KR 300-2 PA, KR 470-2 PA 1.1 Product identifier  Trade name: RV OIL SB150 36567 Article number: 1.2 Relevant identified uses of the substance or mixture and uses advised  against No further relevant information available. Lubricating oil Use of substance or mix- ture: 1.3 Details of the supplier of the safety data sheet...
  • Page 89 10 Appendix Mixture Chemical characterization: Mixture of the substances listed below with non-hazardous Description: admixtures. Not applicable Hazardous components: The exact wording of the hazard statements listed above can be Additional information: found in (>>> "Section 16" Page 94). Section 4 First aid measures 4.1 Description of first aid measures ...
  • Page 90 KR 300-2 PA, KR 470-2 PA Section 7 Handling and storage 7.1 Precautions for safe handling  Avoid exposure to heat and direct sunlight. Safety measures: No special measures required. The product forms flammable fumes when heated. Instructions relating to fire and explosion protection: 7.2 Conditions for safe storage, including any incompatibilities...
  • Page 91 10 Appendix Personal protective equipment The selection of a suitable glove depends not only on the mate- Glove material: rial but also on further quality characteristics. These will vary from manufacturer to manufacturer. Since the product is a prep- aration composed of several substances, the resistance of glove materials cannot be determined beforehand and must therefore be tested before use.
  • Page 92 KR 300-2 PA, KR 470-2 PA 10.1 Reactivity  No further relevant information available. 10.2 Chemical stability  Thermal decomposition / conditions to be avoided: To avoid thermal decomposition, do not overheat. 10.3 Possibility of hazardous reactions  No hazardous reactions known.
  • Page 93 10 Appendix 12.2 Persistence and degradability  Not easily biodegradable. 12.3 Bioaccumulative potential  No further relevant information available. 12.4 Mobility in soil  No further relevant information available. Additional ecological information: General information: Water hazard classification 1 (manufacturer’s classification): low hazard to waters.

  • Page 94: Safety Data Sheet For Lgep 2 Extreme Pressure Grease

    KR 300-2 PA, KR 470-2 PA  National regulations Water hazard classification: Water hazard classification 1 (manufactur- er’s classification): low hazard to waters. 15.2 Chemical safety assessment  Chemical safety assessment has not been performed. Section 16 Other information The information given is based on our present knowledge. However, this shall not constitute a guarantee for any specific product characteristics and shall not establish a legally valid contractual relationship.
  • Page 95 10 Appendix Section 2 Possible hazards Classification of the substance or mixture DPD classification (Directive R52/53 1999/45/EC): CLP classification (Regula- Aquatic Chronic 3; H412 tion EC No. 1272/2008): For full text of R phrases and H phrases, see Section 16. Most serious harmful effects: Harmful to aquatic organisms with long-lasting effects.
  • Page 96 KR 300-2 PA, KR 470-2 PA Description of first aid measures Eyes: Flush with water (preferably using eye wash equipment) until irritation subsides. Seek medical advice if symptoms persist. More information: When obtaining medical advice, show the safety data sheet or label.
  • Page 97 10 Appendix Precautions for safe handling The product should be used under well-ventilated conditions and preferably under process ventilation. Running water and eye wash equipment should be available. Wash hands before breaks, before using restroom facilities, and at the end of work. Conditions for safe storage, including any incompatibilities The product should be stored safely, out of reach of children and away from food, animal feeding stuffs, medicines, etc.
  • Page 98 KR 300-2 PA, KR 470-2 PA Information on basic physical and chemical properties Upper/lower flammability lim- No data its: Upper/lower explosive limits: No data Vapor pressure: No data Vapor density: No data Relative density: < 1.0 g/cm³ Solubility: No data...
  • Page 99 10 Appendix Information on toxicological effects Acute toxicity - inhalation: The product does not have to be classified. Test data are not available. Skin corrosion/irritation The product does not have to be classified. Test data are not available. Degreases the skin. Long-term exposure may cause irritation and possible inflammation.
  • Page 100 KR 300-2 PA, KR 470-2 PA Waste treatment methods Avoid discharge to drain or surface water. Collect spills and waste in closed, leak-proof containers for disposal at the local hazardous waste site. EWC code: Depends on line of business and use, 13 08 99* oil...

  • Page 101: Safety Data Sheet For Optitemp Rb 2 Lubricating Grease

    10 Appendix Changes have been made in 1, 2, 3, 9, 10, 11, 12 & 16 the following sections: Abbreviation explanations: PBT: Persistent, Bioaccumulative and Toxic vPvB: Very Persis- tent and Very Bioaccumulative STOT: Specific Target Organ Toxicity Method of classification: Calculation based on the risks for the known components.
  • Page 102 KR 300-2 PA, KR 470-2 PA Manufacturer designation +49 (0)2161 909 400 Fax: MSDSadvice@bp.com e-mail address: 1.4 Emergency telephone number  Carechem: +44 (0)1235 239,670 (available 24 hours a day) Emergency hotline Section 2 Possible hazards 2.1 Classification of the substance or mixture ...
  • Page 103 10 Appendix In case of contact, rinse eyes immediately with plenty of water Contact with eyes: for at least 15 minutes. Eyelids should be held away from the eyeball to ensure thorough rinsing. Check for and remove any contact lenses. Get medical attention. Wash skin with soap and water, or use an approved skin Skin contact: cleansing agent.
  • Page 104 KR 300-2 PA, KR 470-2 PA Promptly isolate the scene by removing all persons from the Special precautions for fire- vicinity of the incident if there is a fire. No measures should be fighters: taken that involve a risk to personnel or have not been ade- quately trained.
  • Page 105 10 Appendix 6.4 Reference to other sections  See Section (>>> "Section 1" Page 101) for emergency contact informa- tion. See Section (>>> "Section 5" Page 103) for fire-fighting measures. See Section (>>> "Section 8" Page 105) for information on appropriate personal protective equipment.
  • Page 106 KR 300-2 PA, KR 470-2 PA No DNELs/DMELs available. Derived No Effect Level: No PNECs available. Predicted No Effect Concen- tration: 8.2 Limitation and monitoring of exposure  Provide exhaust ventilation or other engineering controls to Appropriate engineering keep the relevant airborne concentrations below their respec- controls: tive occupational exposure limits.
  • Page 107 10 Appendix Skin protection Because specific work environments and material handling Hand protection/General practices vary, safety procedures should be developed for each information: intended application. The correct choice of protective gloves depends upon the chemicals being handled, and the conditions of work and use.
  • Page 108 KR 300-2 PA, KR 470-2 PA Skin protection For general applications, we recommend gloves with a thick- Glove thickness: ness typically greater than 0.35 mm. It should be emphasized that glove thickness is not necessarily a good predictor of glove resistance to a specific chemical, as the permeation efficiency of the glove will be dependent on the exact composition of the glove material.
  • Page 109 10 Appendix Grease Appearance: Physical state Beige [light] Appearance: Color Not available Odor: Not available Odor threshold: Not available pH value: Not available Melting point/freezing point: Not available Boiling point and boiling range: Closed cup: 220 °C (> 428 °F) [Estimated. Based on base oils.] Flash point: Not available Evaporation rate:...
  • Page 110 KR 300-2 PA, KR 470-2 PA 10.6 Hazardous decomposition products  No hazardous decomposition products should be formed under normal conditions of storage and use. Section 11 Toxicological information 11.1 Information on toxicological effects  Acute toxicity estimates Oral Mode of operation:...
  • Page 111 10 Appendix 12.2 Persistence and degradability  Expected to be biodegradable. 12.3 Bioaccumulative potential  Not available 12.4 Mobility in soil  Soil/water partition coefficient (K ): Not available Mobility: Non-volatile. Grease. Insoluble in water. 12.5 Results of PBT and vPvB assessment ...
  • Page 112 KR 300-2 PA, KR 470-2 PA ADR/RID IMDG IATA 14.4 Packing group  ADR/RID IMDG IATA 14.5 Environmental hazards  ADR/RID IMDG IATA Additional information: ADR/RID IMDG IATA 14.6 Special precautions for user  Not available Section 15 Regulatory information 15.1 Safety, health and environmental regulations/legislation specific for...
  • Page 113 10 Appendix Other regulations All components are listed or exempted. Philippine Inventory of Chemicals and Chemical Substances (PICCS): Not determined. Taiwan Existing Chemical Substance Inventory (CSNN): National regulations 1, Annex no. 4 (classification acc. to the German Administrative Water hazard classification: Regulation on the Classification of Substances Hazardous to Waters into Water Hazard Classes (VwVwS)) 15.2 Chemical safety assessment...
  • Page 114 KR 300-2 PA, KR 470-2 PA PBT: Persistent, Bioaccumulative and Toxic PNEC: Predicted No Effect Concentration RID: The Regulations concerning the International Carriage of Dangerous Goods by Rail RRN: REACH Registration Number SADT: Self-Accelerating Decomposition Temperature SVHC: Substances of Very High Concern...

  • Page 115: Kuka Service

     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 yet available here.) Application used  External axes used ...
  • Page 116 KR 300-2 PA, KR 470-2 PA KUKA Automatisering + Robots N.V. Belgium Centrum Zuid 1031 3530 Houthalen Belgium Tel. +32 11 516160 Fax +32 11 526794 info@kuka.be www.kuka.be KUKA Roboter do Brasil Ltda. Brazil Travessa Claudio Armando, nº 171 Bloco 5 - Galpões 51/52 Bairro Assunção...
  • Page 117 11 KUKA Service KUKA Automatisme + Robotique SAS France Techvallée 6, Avenue du Parc 91140 Villebon S/Yvette France Tel. +33 1 6931660-0 Fax +33 1 6931660-1 commercial@kuka.fr www.kuka.fr KUKA Robotics India Pvt. Ltd. India Office Number-7, German Centre, Level 12, Building No. - 9B...
  • Page 118 Taman Perindustrian Puchong 47100 Puchong Selangor Malaysia Tel. +60 (03) 8063-1792 Fax +60 (03) 8060-7386 info@kuka.com.my KUKA de México S. de R.L. de C.V. Mexico Progreso #8 Col. Centro Industrial Puente de Vigas Tlalnepantla de Baz 54020 Estado de México Mexico Tel.
  • Page 119 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 KUKA Svetsanläggningar + Robotar AB Sweden A. Odhners gata 15 421 30 Västra Frölunda Sweden Tel. +46 31 7266-200 Fax +46 31 7266-201 info@kuka.se...
  • Page 120 KR 300-2 PA, KR 470-2 PA KUKA Robots IBÉRICA, S.A. Spain Pol. Industrial Torrent de la Pastera Carrer del Bages s/n 08800 Vilanova i la Geltrú (Barcelona) Spain Tel. +34 93 8142-353 Fax +34 93 8142-950 comercial@kukarob.es www.kuka.es Jendamark Automation LTD (Agency)
  • Page 121 11 KUKA Service KUKA Robotics Hungaria Kft. Hungary Fö út 140 2335 Taksony Hungary Tel. +36 24 501609 Fax +36 24 477031 info@kuka-robotics.hu KUKA Robotics Corporation 51870 Shelby Parkway Shelby Township 48315-1787 Michigan Tel. +1 866 873-5852 Fax +1 866 329-5852 info@kukarobotics.com...
  • Page 122 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 122 / 125...

  • Page 123: Index

    Connecting cables 9, 13, 39, 58, 71 KCP 26, 41, 45 Connecting cables, cable lengths 14 Keyboard, external 45 Counterbalancing system 9, 11, 50 KUKA Customer Support 115 Counterbalancing system, hydropneumatic 11 KUKA smartPAD 41 Danger zone 41 Labeling 44...
  • Page 124 KR 300-2 PA, KR 470-2 PA RB 2 101 Safety data sheet, Optitemp RB 2 lubricating grease 101 Safety data sheet, RV OIL SB150 lubricating oil Machine data 47 Machine frame mounting 57 Safety data sheets 77 Machine frame mounting with centering 57...
  • Page 125 KR 300-2 PA, KR 470-2 PA Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5 125 / 125...

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