Kuka KR AGILUS sixx Assembly Instructions Manual
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Kuka KR AGILUS sixx Assembly Instructions Manual

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KUKA Roboter GmbH
Robots
KR AGILUS sixx
With W and C Variants
Assembly Instructions
Issued: 28.03.2013
Version: MA KR AGILUS sixx V8 en (PDF)

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Summary of Contents for Kuka KR AGILUS sixx

  • Page 1 KUKA Roboter GmbH Robots KR AGILUS sixx With W and C Variants Assembly Instructions Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
  • Page 2 Translation of the original documentation KIM-PS5-DOC Publication: Pub MA KR AGILUS sixx (PDF) en Bookstructure: MA KR AGILUS sixx V6.1 Version: MA KR AGILUS sixx V8 en (PDF) Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 2 / 141...

  • Page 3: Table Of Contents

    Stopping distances and stopping times for STOP 1, axis 2 ......4.10.6.4 Stopping distances and stopping times for STOP 1, axis 3 ......Safety ......................General ........................Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 3 / 141...
  • Page 4 9.2.1.2 Composition / Information about the components ........... 9.2.1.3 Possible hazards ..................... 9.2.1.4 First aid measures ................... 9.2.1.5 Fire-fighting measures ..................9.2.1.6 Measures after unintended release ..............Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 4 / 141...
  • Page 5 Disposal information ..................9.2.2.14 Transport information ..................9.2.2.15 Regulations ...................... 9.2.2.16 Other information ..................... KUKA Service ....................10.1 Requesting support ....................10.2 KUKA Customer Support ................... Index ......................Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 5 / 141...
  • Page 6 KR AGILUS sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 6 / 141...

  • Page 7: Introduction

    These hints serve to make your work easier or contain references to further Notes information. Tip to make your work easier or reference to further information. Terms used Term Description MEMD Micro Electronic Mastering Device KUKA linear unit Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 7 / 141...
  • Page 8 Term Description Resolver Digital Converter smartPAD The smartPAD teach pendent has all the opera- tor control and display functions required for operating and programming the industrial robot. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 8 / 141...

  • 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 AGILUS sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 10 / 141...

  • Page 11: Product Description

    The manipulators are 6-axis jointed-arm manipulators made of cast light alloy. Overview Each axis is fitted with a brake. All motor units and current-carrying cables are protected against dirt and moisture beneath screwed-on cover plates. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 11 / 141...
  • Page 12 1 to 6. All connections are pluggable. The electrical installations tions also include the RDC box, which is integrated into the robot. The connectors Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 12 / 141...
  • Page 13 The robot can be fitted and operated with various options, e.g. working range Options limitation A1 or brake release device. The option is described in separate doc- umentation. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 13 / 141...
  • Page 14 KR AGILUS sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 14 / 141...

  • Page 15: Technical Data

    KR 10 R900 sixx and KR 10 R1100 sixx" Page 58) (>>> 4.10.6 "Stopping distances and times, KR 10 R900 sixx W and KR 10 R1100 sixx W" Page 64) Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 15 / 141...

  • Page 16: Basic Data, Kr 6 Sixx

    In this case, the maintenance intervals or service life may be shortened. If you have any questions, please contact KUKA Customer Sup- port. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)

  • Page 17: Axis Data, Kr 6 Sixx

    388 °/s +/-350° 615 °/s The direction of motion and the arrangement of the individual axes may be not- ed from the diagram (>>> Fig. 4-1 ). Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 17 / 141...
  • Page 18 The following diagram (>>> Fig. 4-2 ) shows the shape and size of the work- Working ing envelope for the robot: envelope KR 6 R900 sixx  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 18 / 141...
  • Page 19 Fig. 4-2: Working envelope, KR 6 R900 sixx The following diagram (>>> Fig. 4-3 ) shows the shape and size of the work- ing envelope for the robot: KR 6 R900 sixx W  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 19 / 141...
  • Page 20 Fig. 4-3: Working envelope, KR 6 R900 sixx W The following diagram (>>> Fig. 4-4 ) shows the shape and size of the work- ing envelope for the robot: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 20 / 141...
  • Page 21 4 Technical data KR 6 R900 sixx C  Fig. 4-4: Working envelope, KR 6 R900 sixx C Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 21 / 141...

  • Page 22: Payloads, Kr 6 Sixx

    Fig. 4-5 ) shows payload diagram for the following robots: KR 6 R900 sixx  KR 6 R900 sixx W  KR 6 R900 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 22 / 141...
  • Page 23 For commissioning the robot, additional input data are required in accor- dance with operating and programming instructions of the 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! Mounting flange...
  • Page 24 KR 6 R900 sixx  KR 6 R900 sixx W  KR 6 R900 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 24 / 141...
  • Page 25 KR 6 R900 sixx W  KR 6 R900 sixx C  Fig. 4-8: Supplementary load on link arm and rotating column Support bracket for supplementary load Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 25 / 141...

  • Page 26: Mounting Base Data, Kr 6 Sixx

    The supplementary loads on the base frame and rotating column are not tak- en into consideration in the calculation of the mounting base load. These sup- plementary loads must be taken into consideration for F Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 26 / 141...

  • Page 27: Basic Data, Kr 10 Sixx

    < 70 dB (A) outside the working envelope Mounting position Floor, wall, ceiling Surface finish, paint- Base (stationary) and covers on link arm: black work (RAL 9011); moving parts: KUKA orange 2567 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 27 / 141...

  • Page 28: Axis Data, Kr 10 Sixx

    In this case, the maintenance intervals or service life may be shortened. If you have any questions, please contact KUKA Customer Sup- port. Connecting...
  • Page 29 The following diagram (>>> Fig. 4-11 ) shows the shape and size of the work- Working ing envelope for the robot: envelope KR 10 R900 sixx  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 29 / 141...
  • Page 30 Fig. 4-11: Working envelope, KR 10 R900 sixx The following diagram (>>> Fig. 4-12 ) shows the shape and size of the work- ing envelope for the robot: KR 10 R900 sixx W  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 30 / 141...
  • Page 31 Fig. 4-12: Working envelope, KR 10 R900 sixx W The following diagram (>>> Fig. 4-13 ) shows the shape and size of the work- ing envelope for the robot: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 31 / 141...
  • Page 32 KR AGILUS sixx KR 10 R900 sixx C  Fig. 4-13: Working envelope, KR 10 R900 sixx C Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 32 / 141...
  • Page 33 Fig. 4-14 ) shows the shape and size of the work- ing envelope for the robot: KR 10 R1100 sixx  Fig. 4-14: Working envelope, KR 10 R1100 sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 33 / 141...
  • Page 34 KR AGILUS sixx The following diagram (>>> Fig. 4-15 ) shows the shape and size of the work- ing envelope for the robot: KR 10 R1100 sixx W  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 34 / 141...
  • Page 35 Fig. 4-15: Working envelope, KR 10 R1100 sixx W The following diagram (>>> Fig. 4-16 ) shows the shape and size of the work- ing envelope for the robot: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 35 / 141...
  • Page 36 KR AGILUS sixx KR 10 R1100 sixx C  Fig. 4-16: Working envelope, KR 10 R1100 sixx C Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 36 / 141...

  • Page 37: Payloads, Kr 10 Sixx

    Fig. 4-17 ) shows payload diagram for the following robots: KR 10 R900 sixx  KR 10 R900 sixx W  KR 10 R900 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 37 / 141...
  • Page 38 Fig. 4-18 ) shows payload diagram for the following robots: KR 10 R1100 sixx  KR 10 R1100 sixx W  KR 10 R1100 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 38 / 141...
  • Page 39 For commissioning the robot, additional input data are required in accor- dance with operating and programming instructions of the 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! Mounting flange...
  • Page 40 KR 10 R900 sixx  KR 10 R900 sixx W  KR 10 R900 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 40 / 141...
  • Page 41 KR 10 R900 sixx W  KR 10 R900 sixx C  Fig. 4-21: Supplementary load on link arm and rotating column Support bracket for supplementary load Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 41 / 141...
  • Page 42 KR 10 R1100 sixx  KR 10 R1100 sixx W  KR 10 R1100 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 42 / 141...

  • Page 43: Mounting Base Data, Kr 10 Sixx

    The specified forces and moments already include the maximum payload and Loads acting on the inertia force (weight) of the robot. the mounting base Fig. 4-24: Loads acting on the mounting base Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 43 / 141...

  • Page 44: 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. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 44 / 141...

  • Page 45: Stopping Distances And Times

    The data are given for the main axes A1, A2 and A3. The main axes are  the axes with the greatest deflection. Superposed axis motions can result in longer stopping distances.  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 45 / 141...

  • Page 46: 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: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 46 / 141...

  • Page 47: Stopping Distances And Times, Kr 6 R900 Sixx

    Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 113.59 0.507 Axis 2 126.76 0.684 Axis 3 68.10 0.370 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 47 / 141...

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

    KR AGILUS sixx 4.10.3.2 Stopping distances and stopping times for STOP 1, axis 1 Fig. 4-27: Stopping distances for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 48 / 141...
  • Page 49 4 Technical data Fig. 4-28: Stopping times for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 49 / 141...

  • Page 50: Stopping Distances And Stopping Times For Stop 1, Axis 2

    KR AGILUS sixx 4.10.3.3 Stopping distances and stopping times for STOP 1, axis 2 Fig. 4-29: Stopping distances for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 50 / 141...
  • Page 51 4 Technical data Fig. 4-30: Stopping times for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 51 / 141...

  • Page 52: Stopping Distances And Stopping Times For Stop 1, Axis 3

    (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)  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 52 / 141...
  • Page 53 4 Technical data Stopping distance (°) Stopping time (s) Axis 1 163.11 0.745 Axis 2 67.78 0.404 Axis 3 60.96 0.387 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 53 / 141...

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

    KR AGILUS sixx 4.10.4.2 Stopping distances and stopping times for STOP 1, axis 1 Fig. 4-33: Stopping distances for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 54 / 141...
  • Page 55 4 Technical data Fig. 4-34: Stopping times for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 55 / 141...

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

    KR AGILUS sixx 4.10.4.3 Stopping distances and stopping times for STOP 1, axis 2 Fig. 4-35: Stopping distances for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 56 / 141...
  • Page 57 4 Technical data Fig. 4-36: Stopping times for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 57 / 141...

  • Page 58: Stopping Distances And Stopping Times For Stop 1, 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%  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 58 / 141...
  • Page 59 Mass m = maximum load (rated load + supplementary load on arm)  Stopping distance (°) Stopping time (s) Axis 1 106.21 0.536 Axis 2 96.06 0.647 Axis 3 46.99 0.373 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 59 / 141...

  • Page 60: Stopping Distances And Stopping Times For Stop 1, Axis 1

    KR AGILUS sixx 4.10.5.2 Stopping distances and stopping times for STOP 1, axis 1 Fig. 4-39: Stopping distances for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 60 / 141...
  • Page 61 4 Technical data Fig. 4-40: Stopping times for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 61 / 141...

  • Page 62: Stopping Distances And Stopping Times For Stop 1, Axis 2

    KR AGILUS sixx 4.10.5.3 Stopping distances and stopping times for STOP 1, axis 2 Fig. 4-41: Stopping distances for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 62 / 141...
  • Page 63 4 Technical data Fig. 4-42: Stopping times for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 63 / 141...

  • Page 64: Stopping Distances And Stopping Times For Stop 1, Axis 3

    (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)  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 64 / 141...
  • Page 65 4 Technical data Stopping distance (°) Stopping time (s) Axis 1 163.11 0.745 Axis 2 67.78 0.404 Axis 3 60.96 0.387 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 65 / 141...

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

    KR AGILUS sixx 4.10.6.2 Stopping distances and stopping times for STOP 1, axis 1 Fig. 4-45: Stopping distances for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 66 / 141...
  • Page 67 4 Technical data Fig. 4-46: Stopping times for STOP 1, axis 1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 67 / 141...

  • Page 68: Stopping Distances And Stopping Times For Stop 1, Axis 2

    KR AGILUS sixx 4.10.6.3 Stopping distances and stopping times for STOP 1, axis 2 Fig. 4-47: Stopping distances for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 68 / 141...
  • Page 69 4 Technical data Fig. 4-48: Stopping times for STOP 1, axis 2 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 69 / 141...

  • Page 70: Stopping Distances And Stopping Times For Stop 1, Axis 3

    4.10.6.4 Stopping distances and stopping times for STOP 1, axis 3 Fig. 4-49: Stopping distances for STOP 1, axis 3 Fig. 4-50: Stopping times for STOP 1, axis 3 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 70 / 141...

  • Page 71: 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 72: Intended Use Of The Industrial Robot

    Annex I are integral parts of this declaration of incorporation. The declaration of incorporation declares that the start-up of the partly com- pleted machinery remains impermissible until the partly completed machinery Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 72 / 141...

  • Page 73: Terms Used

    The KCP (KUKA Control Panel) teach pendant has all the operator con- trol and display functions required for operating and programming the industrial robot. The KCP variant for the KR C4 is called KUKA smartPAD. The general term “KCP”, however, is generally used in this documentation. KUKA smartPAD...

  • Page 74: Personnel

    The tasks can be distributed as shown in the following table. Example Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 74 / 141...

  • Page 75: Workspace, Safety Zone And Danger Zone

    The danger zone consists of the workspace and the stopping distances of the manipulator and external axes (optional). It must be safeguarded by means of physical safeguards to prevent danger to persons or the risk of material dam- age. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 75 / 141...

  • Page 76: Overview Of Protective Equipment

    The manipulator must be taken out of operation and KUKA Roboter GmbH must be consulted be- fore it is put back into operation (>>>...

  • Page 77: Axis Range Monitoring (Optional)

    The following procedure must be followed exactly! 1. Switch off the robot controller and secure it (e.g. with a padlock) to prevent unauthorized persons from switching it on again. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 77 / 141...

  • Page 78: Labeling On The Industrial Robot

     Rating plates  Further information is contained in the technical data of the operating instructions or assembly instructions of the components of the indus- trial robot. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 78 / 141...

  • Page 79: Safety Measures

    KCP is connected. The following tasks must be carried out in the case of faults in the industrial Faults robot: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 79 / 141...

  • Page 80: 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 81: Manual Mode

    5 Safety 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 82: Automatic Mode

    Carry out work outside the danger zone. If work inside the danger zone is  necessary, the user must define additional safety measures to ensure the safe protection of personnel. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 82 / 141...
  • Page 83 The following safety measures must be carried out when working on the coun- terbalancing system: The manipulator assemblies supported by the counterbalancing systems  must be secured. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 83 / 141...

  • Page 84: Decommissioning, Storage And Disposal

    Safety-related parts of control systems - Part 2: Validation Safety of machinery: 2010 EN ISO 12100 General principles of design, risk assessment and risk reduction Industrial robots: 2011 EN ISO 10218-1 Safety Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 84 / 141...
  • Page 85 EN 61000-6-4 Part 6-4: Generic standards; Emission standard for indus- trial environments Safety of machinery: 2006 EN 60204-1 Electrical equipment of machines - Part 1: General requirements Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 85 / 141...
  • Page 86 KR AGILUS sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 86 / 141...

  • Page 87: Planning

    C20/25 according to DIN EN 206-1:2001/DIN 1045-2:2008  The following illustration (>>> Fig. 6-2 ) provides all the necessary information Dimensioned on the mounting base, together with the required foundation data. drawing Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 87 / 141...
  • Page 88 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 ). Fig. 6-3: Cross-section of foundations Bedplate Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 88 / 141...

  • Page 89: Machine Frame Mounting

    The machine frame mounting assembly is used when the robot is fastened on Description a steel structure, a booster frame (pedestal) or a KUKA linear unit. This as- sembly is also used if the robot is installed on the wall or ceiling. It must be ensured that the substructure is able to withstand safely the forces occurring during operation (foundation loads).

  • Page 90: Connecting Cables And Interfaces

    The set of connecting cables comprises: Motor cable  Data cable  CAT5 data cable (optional)  Connecting cable, external axes A7 and A8 (optional)  Ground conductor (optional)  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 90 / 141...

  • Page 91: Customer Interfaces

    Fig. 6-6: Interface A1 Connection, motor cable X30 Connection, data cable, X31 Customer interfaces Interface A1 is located at the rear of the base frame. Interface A1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 91 / 141...
  • Page 92 In-line wrist The optional connector bypack is required for use of the air connections. This option contains a silencer and several plug-in couplings (>>> Fig. 6-9 ). Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 92 / 141...
  • Page 93 Media Air, oil-free, dry, filtered in accordance with: ISO 8573.1-1, 1.2 to 16.2 Degree of filtration: max. 5 µm Operating voltage 24 V DC Current 25 mA Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 93 / 141...
  • Page 94 The inputs and outputs are not preconfigured and must be configured in WorkVisual. Further information about mapping inputs and outputs can be found in the WorkVisual documentation. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 94 / 141...
  • Page 95 Input current typically 3 mA EN 61131-2, type 3 Input filter typically 0.3 ms Power supply 24 V / 3 A Fig. 6-11: Wiring diagram, connection X41 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 95 / 141...
  • Page 96 Fig. 6-12: Wiring diagram, connection XPN41 Customer-specific air connection with the following values: Connection AIR2 Designation Limit values Max. pressure 7 bar Vacuum Atmospheric pressure minus 0.95 bar Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 96 / 141...

  • Page 97: Transportation

    KR 6 R900 sixx W  KR 6 R900 sixx C  KR 10 R900 sixx  KR 10 R900 sixx W  KR 10 R900 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 97 / 141...
  • Page 98 The following transport dimensions (>>> Fig. 7-3 ) are valid for the robots: KR 10 R1100 sixx  KR 10 R1100 sixx W  KR 10 R1100 sixx C  Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 98 / 141...
  • Page 99 Additional safeguarding measures must be taken. It is forbidden to pick up the robot in any other way using a crane! Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 99 / 141...
  • Page 100 KR AGILUS sixx Fig. 7-4: Transportation using lifting tackle Crane Link arm Lifting tackle Rotating column Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 100 / 141...

  • Page 101: Start-Up And Recommissioning

    . The chemical anchor rod is set cor- rectly if the resin is completely mixed and the anchor hole in the concrete is completely filled to the upper edge. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 101 / 141...

  • Page 102: Installing The Machine Frame Mounting Assembly

    Fig. 8-2 ). Procedure 2. Check the hole pattern. 3. Insert 2 pins into the hole pattern. 4. Provide 4 M10x35 hexagon bolts together with conical spring washers. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 102 / 141...

  • Page 103: Installing A Floor-Mounted Robot

    9. Connect the ground conductor between the system component and the ro- bot to the ground conductor connection. 10. Check the equipotential bonding in accordance with VDE 0100 and EN 60204-1. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 103 / 141...

  • Page 104: Installing A Wall-Mounted Robot

    Hexagon bolt Mounting surface 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 105 7. Lock the swivel holders to the Load Lifting Attachment with 2 M12x30 Allen screws and washers. Fig. 8-5: Positioning and fastening the swivel holders Swivel holder M12x30 Allen screw (rear) M12x30 Allen screw (locking screw) Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 105 / 141...
  • Page 106 13. Unscrew 2 M12x30 Allen screws (top Allen screws) and washers from the top of the base frame (>>> Fig. 8-7 ). 14. Unscrew 2 M12x30 Allen screws (locking screws) and washers from the Load Lifting Attachment. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 106 / 141...
  • Page 107 Fig. 8-8: Rotating the swivel holders outwards Swivel holder M10x35 hexagon bolt (top) 17. Unscrew 2 M12x30 Allen screws (bottom Allen screws) and washers from the bottom of the base frame. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 107 / 141...

  • Page 108: Installing A Ceiling-Mounted Robot

    25. Retighten the 4 hexagon bolts with a torque wrench after 100 hours of op- eration. 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 109 6. Fasten the swivel holders to the rear of the base frame with 2 M12x30 Al- len screws and washers; M = 40 Nm. 7. Lock the swivel holders to the Load Lifting Attachment with 2 M12x30 Allen screws and washers. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 109 / 141...
  • Page 110 13. Unscrew 2 M12x30 Allen screws (rear Allen screws) and washers from the rear of the base frame (>>> Fig. 8-13 ). Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 110 / 141...
  • Page 111 20. Connect motor cable X30 and data cable X31 (>>> Fig. 8-15 ). 21. Connect the ground conductor between the robot controller and the robot to the ground conductor connection. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 111 / 141...

  • Page 112: Description Of The Connecting Cables

    25. Retighten the 4 hexagon bolts with a torque wrench after 100 hours of op- eration. 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 113 The tapped holes for connecting the ground conductor are located on the base frame of the robot. Standard connecting cable Fig. 8-16: Connecting cables, overview Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 113 / 141...
  • Page 114 KR AGILUS sixx Fig. 8-17: Connecting cable, motor cable, X20 - X30 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 114 / 141...
  • Page 115 8 Start-up and recommissioning Fig. 8-18: Connecting cable, data cable X21 - X31 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 115 / 141...
  • Page 116 KR AGILUS sixx Fig. 8-19: Connecting cable, data cable CAT5 X65/X66 - XPN1 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 116 / 141...
  • Page 117 8 Start-up and recommissioning Fig. 8-20: Connecting cable, external axes A7 and A8 Fig. 8-21: Connecting cable, ground conductor Ground conductor Lock washer Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 117 / 141...

  • Page 118: Moving The Manipulator Without The Robot Controller

    4. Press the button on the hand-held device. The brakes of the main axes or wrist axes are released and the robot can be moved manually. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 118 / 141...

  • Page 119: Appendix

    +49 (0)6431 5008 0 Tel.: +49 (0)6431 5008 119 Fax: 9.2.1.2 Composition / Information about the components Combination of ester oils, lithium soap and additives. Chemical characterization: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 119 / 141...

  • Page 120: Possible Hazards

    Prevent from entering sewers, streams and waterways. Safe- guard entrances to the drainage system. Slip hazard! Avoid fire and naked lights. No smoking! Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 120 / 141...

  • Page 121: Handling And Storage

    Drop point: Insoluble in water Solubility: Not determined pH value: > 200 °C; DIN ISO 2592 Flash point: > 300 °C Ignition temperature: Not known Explosion limit: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 121 / 141...

  • Page 122: Stability And Reactivity

    Not hazardous ADR/RID Substance code (UN no.): - Hazard number (Kemler code): Hazard label: - Packaging group: Class: Not hazardous GGVSee/IMDG code UN no.: - IMDG code: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 122 / 141...

  • Page 123: Regulations

    Services Erkelenzer Strasse 20, D-41179 Mönchengladbach Address: Germany Country: +49 (0)2161 909-319 Tel.: +49 (0)2161 909-392 Fax: Carechem: +44 (0)208 762 8322 Emergency hotline: MSDSadvice@bp.com e-mail address: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 123 / 141...

  • Page 124: Composition / Information About The Components

    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. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 124 / 141...

  • Page 125: Fire-Fighting Measures

    8 hour(s). Form: Soluble o)hydroxy(octadecanoato-o) Where no exposure limits exist in law, the ACGIH values are included for information and as reference. Further information can be obtained from the supplier. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 125 / 141...

  • Page 126: Physical And Chemical Properties

    Persistence / degradability: The product is non-volatile. Paste. Insoluble in water. Mobility: Harmful to aquatic organisms. May cause long-term adverse Environmental hazards: effects in the aquatic environment. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 126 / 141...

  • Page 127: Disposal Information

    R52/53 - Harmful to aquatic organisms, may cause long-term Risk (R) phrases: adverse effects in the aquatic environment. S61 - Avoid release to the environment. Refer to special instruc- Safety (S) phrases: tions/safety data sheet. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 127 / 141...

  • Page 128: Other Information

    Substances Hazardous to Water into Water Hazard Classes (VwVwS): 9.2.2.16 Other information History 06/07/2005. Date of issue: 01/09/2004. Date of previous issue: Product Stewardship Created by: Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 128 / 141...
  • Page 129 Employers have a duty to tell employees and others who may be affected of any hazards described in this sheet and of any precautions that should be taken. Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 129 / 141...
  • Page 130 KR AGILUS sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 130 / 141...

  • Page 131: Kuka Service

    Description of the problem, duration and frequency of the fault  10.2 KUKA Customer Support KUKA Customer Support is available in many countries. Please do not hesi- Availability tate to contact us if you have any questions. Ruben Costantini S.A. (Agency)
  • Page 132 Tel. +86 21 6787-1888 Fax +86 21 6787-1803 www.kuka-robotics.cn 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: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 132 / 141...
  • Page 133 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: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 133 / 141...
  • Page 134 Fax +47 61 18 62 00 info@kuka.no KUKA Roboter Austria GmbH Austria Vertriebsbüro Österreich Regensburger Strasse 9/1 4020 Linz Austria Tel. +43 732 784752 Fax +43 732 793880 office@kuka-roboter.at www.kuka-roboter.at Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 134 / 141...
  • Page 135 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: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 135 / 141...
  • Page 136 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: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 136 / 141...
  • Page 137 Tel. +1 866 873-5852 Fax +1 866 329-5852 info@kukarobotics.com www.kukarobotics.com KUKA Automation + Robotics Hereward Rise Halesowen B62 8AN Tel. +44 121 585-0800 Fax +44 121 585-0900 sales@kuka.co.uk Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 137 / 141...
  • Page 138 KR AGILUS sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 138 / 141...

  • Page 139: Index

    Manipulator 11, 71, 73, 76 EN 60204-1 85 Manual mode 81 EN 61000-6-2 85 Mechanical axis range limitation 76 EN 61000-6-4 85 Mechanical end stops 76 EN 614-1 85 MEMD 7 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 139 / 141...
  • Page 140 Sound level 16, 27 Working range limitation 76 Start-up 80, 101 Workspace 73, 75, 76 STOP 0 46, 73 STOP 1 46, 73 STOP 2 73 Stop category 0 73 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 140 / 141...
  • Page 141 KR AGILUS sixx Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF) 141 / 141...

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