Kassow Robots KR810 Edge Instruction Manual

Collaborative robot arm

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INSTRUCTION MANUAL

Document identifier: 0447

Version: 1 EN01

Published: 20/SEP/2024

COLLABORATIVE ROBOT ARM

Arm Model: KR810 Edge + KR1018 Edge + KR1205 Edge + KR1410 Edge + KR1805 Edge

Serial Number: Locate the identification plate on the robot arm and teach pendant for the serial number.

Generation: Generation 2, Edge Edition

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Summary of Contents for Kassow Robots KR810 Edge

Page 1 Published: 20/SEP/2024 COLLABORATIVE ROBOT ARM Arm Model: KR810 Edge + KR1018 Edge + KR1205 Edge + KR1410 Edge + KR1805 Edge Serial Number: Locate the identification plate on the robot arm and teach pendant for the serial number. Generation: Generation 2, Edge Edition...
Page 2 7.3 Use Limits ...........................28 Robot Arm Specifications ....................29 8.1 Robot Model KR810 ........................29 8.2 Robot Model KR1018 ........................31 8.3 Robot Model KR1205 ........................33 8.4 Robot Model KR 1410 .........................35 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 1 / 54...
Page 3 11.1 Tool I/O ratings ..........................50 11.2 Tool I/O connectors ........................50 11.2.1 M8 8-pole female connector ..................50 11.2.2 M8 8-pole male connector ..................51 12 Payload Diagram ........................52 12.1 Stopping Distance ........................52 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 2 / 54...
Page 4 3 / 54 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 810 / 1018 / 1205 / 1410 / 1805 Serial No.: See Identification Plate on the robot.
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 6 / 54 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 6 / 54...
Page 8 7 / 54 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 7 / 54...
Page 9 8 / 54 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 8 / 54...
Page 10 This manual must be read prior to operating your robot. Please be informed that Kassow Robots is manufacturer of partly machinery and that a relevant and site and job specific risk assessment shall be undertaken be owner, or by the owner appointed party, ensuring that safe operation of the robot cell is maintained at all times.
Page 11 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 12 Installation and dismounting of the robot must be carried out by qualified and trained personnel. All safety instructions must be observed in order to prevent accidents. The robot arm and teach pendant are delivered by Kassow Robots in two suitable boxes which can be handled safely by one to two persons.
Page 13 12 / 54 3.2 Safe Disposal of Packing Material and Robot Arm Packing materials, robot arm and teach pendant must be disposed of according to local legislation. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 12 / 54...
Page 14 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 exposed to in the case of any significant amendment.
Page 15 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 16 15 / 54 4.7 Transportation and Handling The robot arm, Teach Pendant, cables, and documents are delivered by Kassow Robots in two boxes, which can be handled safely by one person. The unit must not be exposed to any damage, impacts or the like during transportation as this may impair •...
Page 17 Following this, carry out a comprehensive inspection of the machine and repair the damaged elements. • If the structure of the machine has suffered severe damage such as crushing, warping, deformation of the shell, • Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 18 Seismic movement of maximum intensity Severe material damage has occurred, such as the collapse of the building. In this case, inspect the equipment when permitted by the physical conditions. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 19 The base of Edge series line of robots, requires that the construction where the robot is mounted, can dissipate thermal energy. Under typical conditions a minimum of 120W shall be dissipated, but depending on use case, up to 230W shall be dissipated. Figure 5-1: Robot arm tool flange Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 20 (RCD). Ensuring a safe and compliant installation of the robot is crucial. Only authorized electricians shall handle the connection process, adhering to national legislation. Refer to the specification tables in section Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 21 That means if is the robot is running on 42VDC the robot top speed will be reduced by 12.5%. If a PSU installation is made with an Edge series robot, Kassow robots will recommend tuning the PSU towards the higher end of the voltage scale (i.e. 55VDC) to enhance performance.
Page 22 (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 and the Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 23 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 hazardous situations. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 24 The Emergency Stop must be tested at least every 12 months. The emergency stop is stop category 1 or 0 in accordance with to IEC 60204-1 The emergency function is unchanged throughout any operation modes of the robot. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 25 As a minimum, the E-Stop function must be visually checked and activated at least every 12 months. The safety functions is designed according to ISO 13849-1:2023. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 26 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...
Page 27 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 28 There is also an Emergency stop button, a Protective stop button and a play/pause/resume toggle button on the front. The cable connecting the system components are: One cable is fixed to the Teach pendant and with a connector in the other end to connect the Teach • Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 29 Information on configuration and operation without the teach pendant (tablet-less control) can be found in the Software Manual. 7.3 Use Limits The integrator must define use limits according to the specific task where the robot arm is to be used. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 30 29 / 54 8 Robot Arm Specifications The following section outlines the specifications for each robot. 8.1 Robot Model KR810 Figure 8-1: Diagram of Robot Model KR810 Edge Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 29 / 54...
Page 31 Below 70dB (A) Ingress protection IP54 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 4.5m Controller to Teach Pendant Footprint [mm] 160 x 200 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 30 / 54...
Page 32 31 / 54 8.2 Robot Model KR1018 Figure 8-2: Diagram of Robot Model KR1018 Edge Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 31 / 54...
Page 33 Below 70dB (A) Ingress protection IP54 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 4.5m Controller to Teach Pendant Footprint [mm] 160 x 200 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 32 / 54...
Page 34 33 / 54 8.3 Robot Model KR1205 Figure 8-3: Diagram of Robot Model KR1205 Edge Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 33 / 54...
Page 35 Below 70dB (A) Ingress protection IP54 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 4.5m Controller to Teach Pendant Footprint [mm] 160 x 200 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 34 / 54...
Page 36 35 / 54 8.4 Robot Model KR 1410 Figure 8-4: Diagram of Robot Model KR1410 Edge Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 35 / 54...
Page 37 Below 70dB (A) Ingress protection IP54 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 4.5m Controller to Teach Pendant Footprint [mm] 160 x 200 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 36 / 54...
Page 38 37 / 54 8.5 Robot Model KR1805 Figure 8-5: Diagram of Robot Model KR1805 Edge Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 37 / 54...
Page 39 Below 70dB (A) Ingress protection IP54 Joint ranges [°] Joint 1,3,5,6,7 +/- 360 Joint 2,4 -70/+180 Cable lengths [m] 4.5m Controller to Teach Pendant Footprint [mm] 160 x 200 Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 38 / 54...
Page 40 Figure 9-1: The main screen on the Teach Pendant 9.3 Hard Reset of teach pendant. 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 Release the button and press again once to start the Teach pendant. The Teach pendant will restart and automatically boot and open the robot controller screen. You have now successfully restarted the Teach Pendant. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 42 RC detected an unusual event Flashing Blue Indicates that the robot is in a ‘ready to initialize’ phase. Blue The robot is initializing Figure 9-3: Teach Pendant (toggle/resume button) Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 41 / 54...
Page 43 42 / 54 9.5 Accessories If the robot arm is to be placed in extremely dusty, wet, hot or cold environments, please contact Kassow Robots for advice on additional equipment. 9.6 Service Intervals, Maintenance and Cleaning The daily tidying-up and cleaning of the robot and its surroundings is carried out by the operator or specially trained cleaning staff.
Page 44 The outputs can supply a total of 6A shared over all outputs. This includes the DC supply, digital and analogue outputs. The internal 24VDC power supply provides a max total of 6A continuous or 8A peak for 500ms. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 45 The outputs are split into two plug connectors (P5 and P6). Each plug has 10 pins (8 outputs, one 24V and 1 common ground). The 16 outputs are rated for 1A per output. The internal 24VDC power supply provides a max total of 6A continuous or 8A peak for 500ms. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com...
Page 46 In case no external stop switches are needed, each stop input connector must have a connection from 24V to the E-stop and P-stop inputs, the IO-board is delivered with those jumpers as default. Kassow Robots ApS Kajakvej 2 info@kassowrobots.com...
Page 47 Safe input 10 signal A Safe input 10 signal B SDI11 Safe input 11 signal A Safe input 11 signal B SDI12 Safe input 12 signal A Safe input 12 signal B Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 46 / 54...
Page 48 Safe output 6 signal A Safe output 6 signal B SDO07 Safe output 7 signal A Safe output 7 signal B SDO08 Safe output 8 signal A Safe output 8 signal B Kassow Robots ApS Kajakvej 2 info@kassowrobots.com DK-2770 Kastrup kassowrobots.com 47 / 54...
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...
Page 50 11 Tool I/O 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. The 2 M8 circular connectors contain a large range of I/O and Power supply signals.
Page 51 Ground = Chassis = Earth = 0V The digital outputs are PNP outputs, and they will be pulled to 24V when set active. Never plug or unplug any connectors while any outputs are enabled. Kassow Robots recommends powering off the robot when plugging or unplugging cables.
Page 52 Ground = Chassis = Earth = 0V The digital outputs are PNP outputs, and they will be pulled to 24V when set active. Never plug or unplug any connectors while any outputs are enabled. Kassow Robots recommends powering off the robot when plugging or unplugging cables.
Page 53 This depends on the payload, the direction in which the payload is heading relative to gravity, and the distance between the load or 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 54 [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 53 / 54...
Page 55 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...

This manual is also suitable for:

Kr1018 edge Kr1205 edge Kr1410 edge Kr1805 edge