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Kuka KR QUANTEC extra Specification

Kuka KR QUANTEC extra Specification

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KUKA Roboter GmbH
Robots
KR QUANTEC extra
With F and C Variants
Specification
Issued: 18.06.2015
Version: Spez KR QUANTEC extra V6

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  • Page 1 KUKA Roboter GmbH Robots KR QUANTEC extra With F and C Variants Specification KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6...
  • Page 2 Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC Publication: Pub Spez KR QUANTEC extra (PDF) en Book structure: Spez KR QUANTEC extra V5.1 Version: Spez KR QUANTEC extra V6 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 2 / 127...

  • Page 3: Table Of Contents

    Stopping distances and stopping times for STOP 1, axis 2 ......4.7.7.4 Stopping distances and stopping times for STOP 1, axis 3 ......4.7.8 Stopping distances and times, KR 120 R2900 extra ..........Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 3 / 127...
  • Page 4 5.5.7 Decommissioning, storage and disposal .............. Applied norms and regulations .................. Planning ......................Mounting base with centering ..................Machine frame mounting ................... Connecting cables and interfaces ................Transportation ..................... Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 4 / 127...
  • Page 5 Options ......................Mounting flange, adapter (optional) ................Control cable for single axis (optional) ............... Release device (optional) ..................KUKA Service ....................Requesting support ....................KUKA Customer Support ................... Index ......................Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 5 / 127...
  • Page 6 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 6 / 127...

  • Page 7: Introduction

    Procedures marked with this warning must be followed exactly. These notices serve to make your work easier or contain references to further Hints information. Tip to make your work easier or reference to further information. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 7 / 127...
  • Page 8 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 8 / 127...

  • Page 9: 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 10 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 10 / 127...

  • Page 11: Product Description

    Fig. 3-1 ) comprises all the assemblies of an industrial robot, including the manipulator (mechanical system and electrical installa- tions), control cabinet, connecting cables, end effector (tool) and other equip- ment. The KR QUANTEC extra product family comprises the variants: KR 210 R2700 extra ...
  • Page 12 The required compressed air is supplied via a hose in the cable harness. The pressure regulator for this is installed in the push-in module for the electrical installations. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 12 / 127...
  • Page 13 1 to 3, energy supply systems for axes 3 to 6, or working range limitation systems for A1. The options are described in separate docu- mentation. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 13 / 127...
  • Page 14 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 14 / 127...

  • Page 15: Technical Data

    Permissible angle of inclination ≤ 5º Ceiling No angle of inclination permissible Surface finish, paint- Base frame, counterbalancing system and work motors: black (RAL 9005); moving parts: KUKA orange 2567 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 15 / 127...
  • Page 16 Data cable X21 - X31 Rectangular connec- at both ends Ground conductor / M8 ring cable lug at equipotential bonding both ends 16 mm (can be ordered as an option) Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 16 / 127...

  • Page 17: Axis Data

    Axis data, KR 150 Range of motion, software- Speed with Axis R2700 extra limited rated payload +/-185° 123°/s -5° to -140° 115°/s +155° to -120° 120°/s +/-350° 179°/s +/-125° 172°/s +/-350° 219°/s Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 17 / 127...
  • Page 18 115°/s +155° to -120° 120°/s +/-350° 292°/s +/-125° 258°/s +/-350° 284°/s The following diagrams show the shape and size of the working envelopes for Working the “extra” variants. envelope Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 18 / 127...
  • Page 19 4 Technical data The reference point for the working envelope is the intersection of axes 4 and Fig. 4-1: Working envelope, KR 210 R2700 extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 19 / 127...
  • Page 20 KR QUANTEC extra Fig. 4-2: Working envelope, KR 180 R2500 extra * Valid for F-HP in-line wrist Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 20 / 127...
  • Page 21 4 Technical data Fig. 4-3: Working envelope, KR 180 R2500 C extra * Valid for F-HP in-line wrist Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 21 / 127...
  • Page 22 KR QUANTEC extra Fig. 4-4: Working envelope, KR 150 R2700 extra * Valid for F-HP in-line wrist Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 22 / 127...
  • Page 23 4 Technical data Fig. 4-5: Working envelope, KR 150 R2700 C extra * Valid for F-HP in-line wrist Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 23 / 127...
  • Page 24 KR QUANTEC extra Fig. 4-6: Working envelope, KR 120 R2900 extra * Valid for F-HP in-line wrist Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 24 / 127...
  • Page 25 4 Technical data Fig. 4-7: Working envelope, KR 120 R2900 C extra * Valid for F-HP in-line wrist Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 25 / 127...
  • Page 26 KR QUANTEC extra Fig. 4-8: Working envelope, KR 90 R3100 extra * Valid for F-HP in-line wrist Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 26 / 127...

  • Page 27: Payloads

    Fig. 4-9: Working envelope, KR 90 R3100 C extra * Valid for F-HP in-line wrist Payloads The following data apply to the corresponding robots, irrespective of the instal- lation position (C variant) or equipment (F variant). Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 27 / 127...
  • Page 28 240 mm Distance of the load center of gravity L (vertical) 270 mm Permissible mass moment of inertia 60 kgm Max. total load 170 kg Supplementary load, arm 50 kg Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 28 / 127...
  • Page 29 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! Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6...
  • Page 30 KR QUANTEC extra Fig. 4-10: Payload diagram Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 30 / 127...
  • Page 31 4 Technical data Fig. 4-11: Payload diagram Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 31 / 127...
  • Page 32 KR QUANTEC extra Fig. 4-12: Payload diagram Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 32 / 127...
  • Page 33 4 Technical data Fig. 4-13: Payload diagram Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 33 / 127...
  • Page 34 (>>> Fig. 4-15 ) with axes 4 and 6 in the zero position. The symbol X indicates the position of the locating element (bush- ing) in the zero position. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 34 / 127...
  • Page 35 The mounting flange is depicted with axes 4 and 6 in the zero position. The symbol X indicates the position of the locating element (bushing) in the zero position. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 35 / 127...
  • Page 36 210 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. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 36 / 127...

  • Page 37: Foundation Loads

    Fig. 4-18: Supplementary load, arm Fastening thread Mounting surface Interference contour, arm Foundation loads The specified forces and moments already include the payload and the inertia Foundation loads force (weight) of the robot. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 37 / 127...
  • Page 38 KR 180 R2500 extra = 230 kg KR 150 R2700 extra = 200 kg KR 120 R2900 extra = 170 kg KR 90 R3100 extra = 140 kg Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 38 / 127...

  • Page 39: Transport Dimensions

    The following plates and labels (>>> Fig. 4-21 ) are attached to the robot. Plates and labels They must not be removed or rendered illegible. Illegible plates and labels must be replaced. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 39 / 127...
  • Page 40 The axis can move. Risk of crushing! Identification plate Content according to Machinery Direc- tive. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 40 / 127...

  • Page 41: Stopping Distances And Times

    Stopping distances and stopping times in accordance with DIN EN ISO  10218-1, Annex B. Stop categories:  Stop category 0 » STOP 0  Stop category 1 » STOP 1  Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 41 / 127...

  • Page 42: Terms Used

    6 and the mounting flange. The KCP teach pendant has all the operator control and display functions required for operating and pro- gramming the robot system. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 42 / 127...

  • Page 43: Stopping Distances And Times, Kr 210 R2700 Extra

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 42,00 1,043 Axis 2 25,00 0,867 Axis 3 21,00 0,534 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 43 / 127...

  • Page 44: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 44 / 127...
  • Page 45 4 Technical data Fig. 4-24: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 45 / 127...

  • Page 46: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 46 / 127...
  • Page 47 4 Technical data Fig. 4-26: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 47 / 127...

  • Page 48: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 19.33 0.603 Axis 2 58.44 0.939 Axis 3 40.43 0.496 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 48 / 127...

  • Page 49: 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. 4-29: Stopping distances for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 49 / 127...
  • Page 50 KR QUANTEC extra Fig. 4-30: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 50 / 127...

  • Page 51: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 51 / 127...
  • Page 52 KR QUANTEC extra Fig. 4-32: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 52 / 127...

  • Page 53: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 81.65 1.22 Axis 2 50.09 0.693 Axis 3 50.83 0.61 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 53 / 127...

  • Page 54: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 54 / 127...
  • Page 55 4 Technical data Fig. 4-36: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 55 / 127...

  • Page 56: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 56 / 127...
  • Page 57 4 Technical data Fig. 4-38: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 57 / 127...

  • Page 58: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 88.04 1.301 Axis 2 59.53 0.96 Axis 3 51.59 0.635 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 58 / 127...

  • Page 59: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 59 / 127...
  • Page 60 KR QUANTEC extra Fig. 4-42: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 60 / 127...

  • Page 61: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 61 / 127...
  • Page 62 KR QUANTEC extra Fig. 4-44: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 62 / 127...

  • Page 63: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 87.01 1.28 Axis 2 48.94 0.69 Axis 3 44.82 0.54 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 63 / 127...

  • Page 64: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 64 / 127...
  • Page 65 4 Technical data Fig. 4-48: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 65 / 127...

  • Page 66: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 66 / 127...
  • Page 67 4 Technical data Fig. 4-50: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 67 / 127...

  • Page 68: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 79.41 1.227 Axis 2 54.27 0.875 Axis 3 39.58 0.481 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 68 / 127...

  • Page 69: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 69 / 127...
  • Page 70 KR QUANTEC extra Fig. 4-54: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 70 / 127...

  • Page 71: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 71 / 127...
  • Page 72 KR QUANTEC extra Fig. 4-56: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 72 / 127...

  • Page 73: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 78.84 1.212 Axis 2 51.07 0.751 Axis 3 42.94 0.506 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 73 / 127...

  • Page 74: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 74 / 127...
  • Page 75 4 Technical data Fig. 4-60: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 75 / 127...

  • Page 76: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 76 / 127...
  • Page 77 4 Technical data Fig. 4-62: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 77 / 127...

  • Page 78: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 85.64 1.288 Axis 2 60.05 0.97 Axis 3 39.95 0.488 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 78 / 127...

  • Page 79: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 79 / 127...
  • Page 80 KR QUANTEC extra Fig. 4-66: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 80 / 127...

  • Page 81: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 81 / 127...
  • Page 82 KR QUANTEC extra Fig. 4-68: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 82 / 127...

  • Page 83: Stopping Distances And Stopping Times For Stop 1, Axis 3

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 85.01 1.271 Axis 2 49.53 0.714 Axis 3 43.32 0.514 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 83 / 127...

  • Page 84: Stopping Distances And Stopping Times For Stop 1, Axis 1

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 84 / 127...
  • Page 85 4 Technical data Fig. 4-72: Stopping times for STOP 1, axis 1 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 85 / 127...

  • Page 86: Stopping Distances And Stopping Times For Stop 1, Axis 2

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 86 / 127...
  • Page 87 4 Technical data Fig. 4-74: Stopping times for STOP 1, axis 2 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 87 / 127...

  • Page 88: Stopping Distances And Stopping Times For Stop 1, Axis 3

    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 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 88 / 127...

  • Page 89: 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 90: Intended Use Of The Industrial Robot

    EC Machinery Directive, and the EC declaration of conformity is present in accordance with Annex II A. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 90 / 127...

  • Page 91: 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 92: Workspace, Safety Zone And Danger Zone

    Workspace, safety zone and danger zone Workspaces are to be restricted to the necessary minimum size. A workspace must be safeguarded using appropriate safeguards. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 92 / 127...

  • Page 93: 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 94: 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 95: Safety Measures

    The external keyboard and/or external mouse must be removed from the con- trol cabinet as soon as the start-up or maintenance work is completed or the KCP/smartPAD is connected. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 95 / 127...

  • Page 96: 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 97 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 98: Manual Mode

    Automatic mode is only permissible in compliance with the following safety measures: All safety equipment and safeguards are present and operational.  There are no persons in the system.  The defined working procedures are adhered to.  Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 98 / 127...

  • Page 99: 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 100: Decommissioning, Storage And Disposal

    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 relating to electromagnetic com- patibility and repealing Directive 89/336/EEC Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 100 / 127...
  • Page 101 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: 18.06.2015 Version: Spez KR QUANTEC extra V6 101 / 127...
  • Page 102 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 102 / 127...

  • Page 103: Planning

    C20/25 according to DIN EN 206-1:2001/DIN 1045-2:2008  The following illustrations provide all the necessary information on the mount- Dimensioned ing base, together with the required foundation data. drawing Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 103 / 127...
  • Page 104 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: Cross-section of foundations Bedplate Concrete foundation Hexagon bolt Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 104 / 127...

  • Page 105: Machine Frame Mounting

    The “machine frame mounting” assembly with centering is used when the ro- Description bot is fastened on a steel structure, a booster frame (pedestal) or a KUKA lin- ear unit. This assembly is also used if the manipulator is installed in an inverted position, i.e.

  • Page 106: Connecting Cables And Interfaces

    The threaded bolt for connecting the ground conductor is located on the base frame of the robot. The following points must be observed when planning and routing the con- necting cables: Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 106 / 127...
  • Page 107 Fig. 6-6: Interfaces on the robot Connection, motor cable X30 Interface, axis 3, arm Interface, axis 1, base frame Interface, axis 6, tool Connection, data cable, X31 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 107 / 127...
  • Page 108 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 108 / 127...

  • Page 109: Transportation

    2 and 3. The specified dimensions refer to the robot without equipment. Fig. 7-2: Transport dimensions Center of gravity Fork slots Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 109 / 127...
  • Page 110 All the legs are labeled. Leg G3 is provided with an adjustable chain that must be adjusted so that the robot is suspended vertically from the crane. If neces- sary, the robot must be set down again and the chain readjusted. Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 110 / 127...
  • Page 111 Fig. 7-4: Transportation using lifting tackle Lifting tackle assembly Leg G3 Leg G1 Leg G2 M16 eyebolt, base frame, front, left M16 eyebolt, base frame, front, right M16 eyebolt, rotating column, rear Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 111 / 127...
  • Page 112 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 112 / 127...

  • Page 113: Options

    Hole circle 160 mm Screw grade 10.9 Screw size Number of fastening threads Grip length 1.5 x nominal diameter Depth of engagement min. 12 mm, max. 16 mm Locating element Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 113 / 127...

  • Page 114: Control Cable For Single Axis (Optional)

    KR QUANTEC extra Control cable for single axis (optional) The control cable for single axis is used when additional axes (e.g. KUKA lin- Description ear unit or turntables) are controlled via the robot. In this case, the control ca- ble is guided from the RDC box through the hollow shaft of axis 1 to a connector interface on the push-in module.

  • 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 Tel. +86 21 5707 2688 Fax +86 21 5707 2603 info@kuka-robotics.cn www.kuka-robotics.com KUKA Roboter GmbH Germany Zugspitzstr. 140 86165 Augsburg Germany Tel. +49 821 797-4000 Fax +49 821 797-1616 info@kuka-roboter.de www.kuka-roboter.de Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 116 / 127...
  • Page 117 Fax +81 45 744 7696 info@kuka.co.jp KUKA Robotics Canada Ltd. Canada 6710 Maritz Drive - Unit 4 Mississauga L5W 0A1 Ontario Canada Tel. +1 905 670-8600 Fax +1 905 670-8604 info@kukarobotics.com www.kuka-robotics.com/canada Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 117 / 127...
  • Page 118 Fax +47 61 18 62 00 info@kuka.no KUKA Roboter CEE GmbH Austria Gruberstraße 2-4 4020 Linz Austria Tel. +43 7 32 78 47 52 Fax +43 7 32 79 38 80 office@kuka-roboter.at www.kuka.at Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 118 / 127...
  • Page 119 Tel. +46 31 7266-200 Fax +46 31 7266-201 info@kuka.se KUKA Roboter Schweiz AG Switzerland Industriestr. 9 5432 Neuenhof Switzerland Tel. +41 44 74490-90 Fax +41 44 74490-91 info@kuka-roboter.ch www.kuka-roboter.ch Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 119 / 127...
  • Page 120 Czech Republic Organisation Tschechien und Slowakei Sezemická 2757/2 193 00 Praha Horní Počernice Czech Republic Tel. +420 22 62 12 27 2 Fax +420 22 62 12 27 0 support@kuka.cz Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 120 / 127...
  • Page 121 Fax +1 866 329-5852 info@kukarobotics.com www.kukarobotics.com KUKA Robotics UK Ltd Great Western Street Wednesbury West Midlands WS10 7LL Tel. +44 121 505 9970 Fax +44 121 505 6589 service@kuka-robotics.co.uk www.kuka-robotics.co.uk Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 121 / 127...
  • Page 122 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 122 / 127...

  • Page 123: Index

    KUKA Customer Support 115 Declaration of incorporation 89, 90 KUKA smartPAD 11, 91 Decommissioning 100 Description of the robot system 11 Dimensions, transport 39 Labeling 94 Dimensions, transportation 109 Liability 89 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 123 / 127...
  • Page 124 Reaction distance 91 User 91, 92 Recommissioning 96 Users 9 Reference point 15 Relative air humidity 16 Release device 94 Volume of working envelope 15 Release device, option 114 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 124 / 127...
  • Page 125 Index Warnings 7 Weight 15 Working range limitation 93 Workspace 91, 92 Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 125 / 127...
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  • Page 127 KR QUANTEC extra Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6 127 / 127...

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