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INSTRUCTION MANUAL
Document identifier: 0246
Version: 3 EN01
Published: 10/25/2023
Collaborative robot arm
Model: Arm KR0810 + KR1018 + KR1205 + KR1410 + KR1805
Serial No.: See Identification Plate on the robot arm, teach pendant and controller cabinet.
Generation: 2nd generation.
Kassow Robots ApS
Kajakvej 2
DK-2770 Kastrup
info@kassowrobots.com
kassowrobots.com
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Summary of Contents for Kassow Robots KR0810
- Page 1 Document identifier: 0246 Version: 3 EN01 Published: 10/25/2023 Collaborative robot arm Model: Arm KR0810 + KR1018 + KR1205 + KR1410 + KR1805 Serial No.: See Identification Plate on the robot arm, teach pendant and controller cabinet. Generation: 2nd generation. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com...
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Page 2: Table Of Contents
Payload Diagram ........................35 7.1 Stopping Distance ........................35 Handling ..........................38 8.1 Unpacking and General Handling of the Robot Arm ..............38 8.2 Safe Disposal of Packing Material and Robot Arm ..............38 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 2 / 52... - Page 3 10.12.2 Safe Digital Outputs (SDO) ..................48 11 Tool-IO ..........................50 11.1 Tool-IO ratings ..........................51 11.2 Tool-IO connectors ........................51 11.2.1 M8 8-pole female connector ..................51 11.2.2 M8 8-pole male connector ..................52 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 3 / 52...
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Page 4: Identification
4 / 52 1. Identification 1.1 Supplier Information Manufacturer: Kassow Robots ApS Kajakvej 2 2770 Kastrup Phone: +45 32 16 08 10 E-mail: info@kassowrobots.com 1.2 Product Description Description: Collaborative robot arm Model: Arm 0810 / 1018 / 1205 / 1410 / 1805 Serial No.: See Identification Plate on the robot and controller cabinet. - Page 5 ECDeclaration of Incorporation Of Partly Completed Machinery in accordance with the Machinery Directive 2006/42/EC Annex II No. 1 Section B The Manufacturer Authorized to compile the technical file Kassow Robots ApS Kristian Kassow, CEO Kajakvej 2 Kassow Robots ApS 2770 Kastrup...
- Page 6 Of Partly Completed Machinery in accordance with the Supply of Machinery (Safety) Regulations 2008 Annex II No. 1 Section B The Manufacturer Authorized to compile the technical file Kassow Robots ApS Kristian Kassow, CEO Kajakvej 2 Kassow Robots ApS 2770 Kastrup...
- Page 7 7 / 52 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 7 / 52...
- Page 8 8 / 52 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 8 / 52...
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Page 9: General
The robot is typically used for welding, painting, assembly, pick and place, packaging and labelling. These actions are all carried out while ensuring high endurance, speed, and precision. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 10: Technical Terms And Abbreviations
Hence the final application, following the integrator’s analysis and implementation of any potential solutions, is safe and risk free to use. The Integrator is also responsible for the risk assessment of the product. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 11: Safety
If at any point you wish to modify any element of the equipment, you should consult Kassow Robots ApS prior to doing so. However, Kassow Robots ApS will not be liable for any danger that the user might be Kassow Robots ApS Kajakvej 2 info@kassowrobots.com... -
Page 12: Improper Use
Improper use of the unit may cause injuries and damage to property and may void the warranty. Modification of any element of the unit is subject to prior consultation with Kassow Robots ApS, who will not be liable for any danger that may occur as a result of modifications. -
Page 13: Safety During Commissioning And Installation
Failure to do so can result in equipment damage or decreased performance. 14. Make sure that the power is OFF before any work on electric installations. 15. Check the supply disconnecting device and make sure that the power is always disconnected Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 14: Storage
Stop the machine if it is still running (in case the electric power or any other energy source has not • failed), provided this does not imply any additional danger. Following this, carry out a comprehensive inspection of the machine and repair the damaged elements. • Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 15: Safety Check
The robot must be lifted from the bottom and can be easily handled by one person. Check the Teach Pendant connection to RC. The Teach Pendant will automatically start after the RC is switched on, after a while it will indicate the connection in the top-left corner. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... - Page 16 (all brakes engaged). The E- Stop message also appears on the TP. Release the E-Stop button again and observe that the Robot returns to normal condition again Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
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Page 17: Instructions For Safe Operation
The robot may only be used and operated when all safety functions are fully available and operable! Defective safety functions and protective equipment may lead to loss of safety and Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... - Page 18 Make sure that the robot cannot restart by disconnecting the power sources to the robot. In the following sections you can find detailed descriptions of safety and protective functions installed on the robot. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
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Page 19: Emergency Stop
The safety function, i.e. the robot, external E-Stop circuit. must not be used beyond 30,000 The E-Stop push buttons are hours. placed in the following places on the robot: Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 19 / 52... - Page 20 The following safety-oriented functions are preconfigured and can be integrated into the system via the safety interface of the robot controller: Operator safety (= connection for the monitoring of physical safeguards) External Emergency stops (Electromechanical switch) • Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
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Page 21: Protective Stop
The following safety-oriented functions are preconfigured and can be integrated into the system via the safety interface of the robot controller: Operator safety (= connection for the monitoring of physical safeguards) External Protective stops (Electromechanical switch) • Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 22: Product Description
The I/O board, which has a range of safety related functions and allows various electrical • connections. The relays on the robot arm power supply bus. • Connectors for connecting to a wall socket, robot arm and Teach pendant. • Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 22 / 52... -
Page 23: Using The Robot
Is only intended as a collaborative robot. Any other use beyond such operating conditions is • deemed not to conform with the Instruction manual, and the manufacturer cannot accept any liability whatsoever for subsequent loss or damage. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 24: Use Limits
5.3.2 5.4 Space Limits The robot must be placed on a solid surface that can withstand up to minimum 1000 Nm. The robot must not be used in a wet environment. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 25: Robot Arm Specifications
25 / 52 6 Robot Arm Specifications The following section outlines the specifications for each robot. 6.1 Robot Model KR810 Figure 3: Diagram of Robot Model KR810 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 25 / 52... - Page 26 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 5m Controller to robot arm 4.5m Controller to Teach Pendant Footprint [mm] 130 x 130 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 26 / 52...
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Page 27: Robot Model Kr1018
27 / 52 6.2 Robot Model KR1018 Figure 7: Diagram of Robot Model KR1018 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 27 / 52... - Page 28 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 5m Controller to robot arm 4.5m Controller to Teach Pendant Footprint [mm] 160 x 160 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 28 / 52...
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Page 29: Robot Model Kr1205
29 / 52 6.3 Robot Model KR1205 Figure 4: Diagram of Robot Model KR1205 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 29 / 52... - Page 30 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 5m Controller to robot arm 4.5m Controller to Teach Pendant Footprint [mm] 130 x 130 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 30 / 52...
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Page 31: Robot Model Kr 1410
31 / 52 6.4 Robot Model KR 1410 Figure 5: Diagram of Robot Model KR1410 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 31 / 52... - Page 32 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 5m Controller to robot arm 4.5m Controller to Teach Pendant Footprint [mm] 160 x 160 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 32 / 52...
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Page 33: Robot Model Kr1805
33 / 52 6.5 Robot Model KR1805 Figure 6: Diagram of Robot Model KR1805 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 33 / 52... - Page 34 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 5m Controller to robot arm 4.5m Controller to Teach Pendant Footprint [mm] 160 x 160 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 34 / 52...
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Page 35: Payload Diagram
TFC and joint axis 1 or 2, depending on whatever distance is the longest. The values can be seen the table below. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... - Page 36 [mm]. The braking time [seconds], and braking distance [mm], is now calculated as: Example can be seen on next page. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 36 / 52...
- Page 37 90 degrees. From the table above, it can be seen that the robot is capable of decelerating at 1117 deg/s . Angular speed, stopping time and stopping distance are: Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
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Page 38: Handling
As mentioned earlier in the manual, the robot arm, controller, Teach Pendant, cables, and documents are delivered by Kassow Robots in two suitable boxes which can be handled safely by one person. The delivery boxes can also be used for safe storage, if necessary. -
Page 39: Installing The Robot
Generally, it should not deflect by more than 3-5 mm as a maximum under full speed and load. Various tools can be mounted on the mounting flange on the robot (see diagram below). Figure 9: Robot arm tool flange Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 40: Operating The Robot Arm
Figure 10: The main screen on the Teach Pendant 9.3 Hard Reset of Tablet If the Teach pendant is frozen beyond recovery by the software, a hardware reset can be necessary. The procedure is simple: Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... - Page 41 The Teach pendant will restart and automatically boot and open the robot controller screen. You have now successfully restarted the Teach Pendant. *If this tool is lost, you can use the shank of a 2 mm drill bit (do not use the sharp end of the drill!). Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
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Page 42: Signals To Be Observed
RC detected an unusual event Flashing Blue Indicates that the robot is in a ‘ready to initialize’ phase. Blue The robot is initializing Figure 12: Teach Pendant (toggle/resume button) Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 42 / 52... -
Page 43: Accessories
22101701 IO board No changes may be made to the robot arm control cabinet. Any replacement, service and maintenance of parts must be done by Kassow Robots or by one of its service partners. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 44: Controller
The replaceable cable through hole plate allows the user to equip the cabinet with, for instance, a • Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 45: Controller Inside And Electric Connections
The outputs can supply a total of 6A shared over all outputs. This includes the DC supply, digital and analogue outputs. Figure 14: Diagram of the IOBoard connector panel 10.3 Power supply output (24V) The controller provides a single power supply out going directly from the internal 24VDC PSU. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 46: General Purpose Relays
10.6 Digital Inputs (24V) There are a total of 16 digital inputs available in the Kassow Robots RC, designed to operate at the industrial standard PLC voltage of 24VDC (IEC 61131-2:2017) The 16 inputs are split into four plug connectors. -
Page 47: Analogue Inputs (4-20Ma)
Digital Output values can be controller through the TP UI and mapped to custom variables for the programming purposes. 10.12 Safe I/O The Kassow Robots RC provides Safe Digital Inputs (SDI) and Safe Digital Outputs (SDO) that allows to Kassow Robots ApS Kajakvej 2 info@kassowrobots.com... -
Page 48: Safe Digital Inputs (Sdi)
Safe output 3 signal B SDO04 DO04 Safe output 4 signal A DO08 Safe output 4 signal B The Safe Digital Output configuration can be configured via the TP UI. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 48 / 52... - Page 49 For all SDO configurations except disabled, diagnostics will ensure that safe output signal A and B are crosschecked and will result in a stop category 1 stop if violated. A violation occurs when the two signals are different for more than 200ms. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
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Page 50: Tool-Io
50 / 52 11 Tool-IO Kassow Robots are equipped with an advanced Tool flange containing 2 connectors and a push button. The Push button can be used to activate the back-drive to freely move the robot by hand to teaching positions. -
Page 51: Tool-Io Ratings
Robots recommends powering off the robot when plugging or unplugging cables. Do not connect pin 6 directly to pin 5 or 7. When double current capacity is needed, use pin 5 and 7 in parallel. Outputs can activate for ~10ms during power up. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com... -
Page 52: M8 8-Pole Male Connector
Robots recommends powering off the robot when plugging or unplugging cables. Do not connect pin 6 directly to pin 5 or 7. When double current capacity is needed, use pin 5 and 7 in parallel. Outputs can activate for ~10ms during power up. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
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