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Summary of Contents for Kuka KR 350
- Page 1 ROBOT KR 350 Installation, Connection, Exchange Ro/Me/03/23 03.99.02 en 1 of 26...
- Page 2 KUKA Roboter GmbH e Copyright This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work.
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Page 3: Table Of Contents
Contents General ............Principal loads . - Page 4 Installation, Connection, Exchange Ro/Me/03/23 03.99.02 en 4 of 26...
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Page 5: General
KR 350 L280/2 KR 350 L240/2 General In the following description, only the KR 350 will be depicted in the illustrations. The information in the description applies to all robot variants, however. Exceptions to this will be clearly marked. The Doc. Module “Safety, General” and the robot Doc. Module “Repair, General”... - Page 6 Installation, Connection, Exchange Some of the specially marked texts refer exclusively to everything that follows -- until the instruction is expressly revoked or the work is completed at the end of a section. Example Turn main switch on the robot control cabinet to “OFF” and secure it with a pad- lock to prevent unauthorized persons from switching it on again.
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Page 7: Principal Loads
1940 kg 500 kg KR 350/2 1956 kg 430 kg KR 350 L280/2 1965 kg 390 kg KR 350 L240/2 Fig. 1 Principal loads acting on floor (or ceiling) due to robot and total load Ro/Me/03/23 03.99.02 en... -
Page 8: Mounting Variants
Installation, Connection, Exchange Mounting variants Depending on the type, the robot can be installed on the floor or on the ceiling. There are two mounting variations for installing the robot on the floor or on the ceiling: Variant 1 (394.001--08.002), see Section 3.1 Variant 2 (394.001--08.003), see Section 3.2 If the robot is to be installed on the floor, being directly mounted on a concrete base, all perti- nent construction specifications must be observed concerning the grade of concrete (∫... -
Page 9: Variant 1 (394.001--08.002)
Mounting variants (continued) Variant 1 (394.001--08.002) Characteristic features: For floor-- and ceiling--mounted robots Robot installed on a steel structure prepared by the customer (or on a linear unit of series KL 1500) Robot fastened by means of eight M24x100--8.8 ISO 4017 hexagon bolts. Retighten M24x100--8.8 ISO 4017 hexagon bolts after 100 hours of operation. - Page 10 Installation, Connection, Exchange 90 rotated =700 Nm ISO 4017 M24x100--8.8 Section X - X 1050 970 ¦ 0,1 min 115 Fig. 3 Robot installation, variant 1 The steel foundation is now ready for the robot to be installed. The procedure for installing the robot is described in Section 4.1 for floor--mounted robots, and in Section 4.2 for ceiling-- mounted robots.
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Page 11: Variant 2 (394.001--08.003)
Mounting variants (continued) Variant 2 (394.001--08.003) Characteristic features: For floor--mounted robots only Robot installed with four intermediate plates (Fig. 4/1) on the concrete foundation Robot fastened to each intermediate plate with two M24x100 hexagon bolts (2) Each intermediate plate fastened to concrete foundation with four safety anchors Easy removal and installation with optimum repeatability of the installation position Considerable differences in level of the foundation can be bridged. - Page 12 Installation, Connection, Exchange (2) Fasten each intermediate plate to the bottom of the robot by means of two M24x100--8.8 hexagon bolts (Fig. 5/3) together with lock washers and centering rings (4) in accordance with Fig. 4. (3) Lower robot onto the concrete foundation and align it correctly in relation to the working envelope (Fig.
- Page 13 Mounting variants (continued) Fig. 6 Levelling compound (7) Set down the robot in the still plastic levelling compound and adjust its position slightly if necessary. The robot can be levelled by turning an M20x40 hexagon bolt (Fig. 4/4) on each intermediate plate.
- Page 14 Installation, Connection, Exchange (11) Screw on hexagon nuts (4) together with lock washers and tighten hexagon nuts with torque wrench in diagonally opposite sequence, increasing the tightening torque to the specified value in several stages (M = 300 Nm). (12) Unscrew and remove all hexagon bolts (3) together with lock washers. (13) Carefully lift robot vertically and remove centering rings that are then loose.
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Page 15: Installing And Connecting The Robot
Section 1 of this Doc. Module is to be observed. This description applies to robots with mounting variant 1 (Section 3.1) and 2 (Section 3.2). If the robot is to be installed on the floor in an inclined position of more than 10˚, KUKA must be consulted beforehand. - Page 16 Installation, Connection, Exchange (2) Raise robot with fork lift truck or lifting tackle attached to three eyebolts on the rotating column. For reasons of safety, it is imperative for the lifting tackle to be attached to the robot at the specified points. Risk of injury! The transport instructions in the robot Doc.
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Page 17: Ceiling--Mounted Robots
Installing and connecting the robot (continued) Retighten the eight hexagon bolts (4) after 100 hours of operation. (5) Remove lifting tackle. (6) Connect connecting cables. Before performing the next step, it must be ensured that it is not possible for anyone to be injured within the range of the slowly moving robot. - Page 18 * Angle specifications are referred to the mechanical zero of the axis concerned. KR 350/2 1690 2420 KR 350 L280/2 1780 2420 KR 350 L240/2 1960 2420 Fig. 12 Transport position for ceiling--mounted robots (2) Raise the robot (Fig. 13/3) vertically with the fork lift truck and place it onto the ceiling structure (5).
- Page 19 Installing and connecting the robot (continued) As the robot is lifted, the boreholes (2) must be aligned as accurately as pos- sible with the two locating pins (1). If this operation is carried out inaccurately, it is more likely that parts will be damaged. As soon as the robot is in its exact position on the ceiling, it must be pressed firmly against the ceiling until it is finally bolted to it.
- Page 20 Installation, Connection, Exchange (6) Put robot into operation and move it into a suitable position to install end--effector and additional equipment. Turn main switch on the robot control cabinet to “OFF” and secure it with a pad- lock to prevent unauthorized persons from switching it on again. (7) Install end--effector and additional equipment.
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Page 21: Exchange
Exchange Exchange To avoid the need for any major reprogramming after an exchange, the instructions given in the Operating Handbook, Software KR C1A, Chapter “Start--up”, Section “Robot Mastering/ Unmastering” must be accurately carried out every time a robot is exchanged. Exchanging floor--mounted robots Removal Turn main switch on the robot control cabinet to “OFF”... - Page 22 * Angle specifications are referred to the mechanical zero of the axis concerned. KR 350/2 1690 2420 KR 350 L280/2 1780 2420 KR 350 L240/2 1960 2420 Fig. 14 Transport position for floor--mounted robots Turn main switch on the robot control cabinet to “OFF” and secure it with a pad- lock to prevent unauthorized persons from switching it on again.
- Page 23 Exchange (continued) Fig. 15 Removal of floor--mounted robot The robot can also be lifted by fork lift truck. If the robot is transported by fork lift truck, the forks must be placed in the slots in the base frame or the transport frame. It is forbidden to pick up the robot in any other way using a fork lift truck! The robot must be lifted as vertically as possible until the locating pins are free.
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Page 24: Exchanging Ceiling--Mounted Robots
+90˚ * Angle specifications are referred to the mechanical zero of the axis concerned. KR 350/2 1690 2420 KR 350 L280/2 1780 2420 KR 350 L240/2 1960 2420 Fig. 16 Transport position for ceiling--mounted robots Ro/Me/03/23 03.99.02 en 24 of 26... - Page 25 Exchange (continued) Turn main switch on the robot control cabinet to “OFF” and secure it with a pad- lock to prevent unauthorized persons from switching it on again. (3) Release and unplug all connectors from the junction boxes (Fig. 17/2). (4) Remove electric cables and hose lines from both interfaces of energy supply system A 1 and all other peripheral supply lines to the robot, where necessary.
- Page 26 Installation, Connection, Exchange (6) Remove eight M24x100--8.8 ISO 4017 hexagon bolts (1) together with lock washers. (7) Lower robot slowly without tilting it. The robot must be lowered vertically downwards until both locating pins are free. (8) Suspend robot in transport frame and if it needs to be turned over into the floor--mount- ing position (base frame at bottom, arm at top), turn the robot together with the trans- port frame.
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