Kuka KR QUANTEC-2 Specification
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Kuka KR QUANTEC-2 Specification

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Robots
KR QUANTEC-2
With F and C Variants
Specification
Issued: 29.01.2024
Spez KR QUANTEC-2 V10
KUKA Deutschland GmbH

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Summary of Contents for Kuka KR QUANTEC-2

  • Page 1 Robots KR QUANTEC-2 With F and C Variants Specification Issued: 29.01.2024 Spez KR QUANTEC-2 V10 KUKA Deutschland GmbH...
  • Page 2 Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Deutschland GmbH. Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work.

  • Page 3: Table Of Contents

    Stopping distances and stopping times, STOP 1, A2.......... 4.7.2.4 Stopping distances and stopping times, STOP 1, A3.......... 4.7.3 Stopping distances and times, KR 120 R3100-2 and KR 120 R3100-2 F..Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 3/233...
  • Page 4 Stopping distances and stopping times, STOP 0, A1 to A3....... 4.7.11.2 Stopping distances and stopping times, STOP 1, A1.......... 4.7.11.3 Stopping distances and stopping times, STOP 1, A2.......... 4.7.11.4 Stopping distances and stopping times, STOP 1, A3.......... Planning....................4/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 5 Mounting base 150 mm (optional)................ Machine frame mounting..................Connecting cables and interfaces................. Transportation..................Transporting the robot................... Appendix....................227 Applied standards and regulations............... KUKA Service................... 229 Requesting support....................KUKA Customer Support..................Index Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 5/233...
  • Page 6 KR QUANTEC-2 6/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 7: Introduction

    • Advanced knowledge of electrical engineering • Knowledge of the robot controller system For optimal use of KUKA products, we recommend the training courses offered by KUKA College. Information about the training program can be found at www.kuka.com or can be obtained directly from our subsidia- ries.

  • Page 8: Terms Used

    5. With parallelogram robots, the distance between axis 1 and the intersection of axis 6 and the mounting flange. Ceiling Clean Room Designation for KUKA products developed for use in cleanrooms. Electronic Data Storage (memory card) EDS cool Electronic Data Storage cool Memory card with extended temperature range 8/233 | www.kuka.com...
  • Page 9 Machine Tooling Press-to-press robot Palletizer Angle of rotation (°) about the corresponding axis. This value can be entered in the controller via the teach pendant, from which it can be read. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 9/233...
  • Page 10 • KUKA smartPAD • KUKA smartPAD-2 • KUKA smartPAD pro For robot controllers of the KR C5 series with KUKA System Soft- ware or VW System Software, only the model KUKA smartPAD-2 is used. For robot controllers of the KR C5 series with KUKA iiQKA.OS, on- ly the model KUKA smartPAD pro is used.
  • Page 11 For KUKA System Software / VW System Software: Axis of motion that does not belong to the manipulator, yet is con- trolled with the robot controller. For example, KUKA linear unit, turn- tilt table and positioner Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 12 KR QUANTEC-2 12/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 13: Product Description

    2-1) comprises all the assemblies of an industri- al robot, including the manipulator (mechanical system and electrical in- stallations), robot controller, connecting cables, tool and other equipment. The KR QUANTEC-2 product family comprises the following robot types: • KR 120 R2700-2 • KR 120 R2700-2 F •...

  • Page 14: Description Of The Manipulator

    6-axis jointed-arm kinematic systems. They consist of the following main assemblies: • In-line wrist • Arm • Link arm • Counterbalancing system • Rotating column • Base frame • Electrical installations 14/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 15 The maximum permissible swivel angle is mechanically limited by an overrun safeguard for each direction, plus and minus. There is an in- terface on the link arm for fastening supplementary loads. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 15/233...
  • Page 16 The following options are also available: • Release device • Cover on hollow shaft A1 • Cable set cover • Purge option A • Purge option B • Purge option C 16/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 17: Intended Use And Misuse

    Any use or application deviating from the intended use is deemed to be misuse and is not allowed. Misuse will result in the loss of warranty and liability claims. KUKA is not liable for any damage resulting from such mis- use. This includes e.g.: •...
  • Page 18 KR QUANTEC-2 18/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 19: Safety

    • This “Safety” chapter refers to a mechanical component of an indus- trial robot. • If the mechanical component is used together with a KUKA robot controller, the “Safety” chapter of the operating instructions or as- sembly instructions of the robot controller must be used! This contains all the information provided in this “Safety”...

  • Page 20: Ec Declaration Of Conformity And Declaration Of Incorporation

    Area within which the robot may move. The workspace is derived from the individual axis ranges. User The user of the industrial robot can be the management, employer or delegated person responsible for use of the industrial robot. 20/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 21 • KUKA smartPAD • KUKA smartPAD-2 • KUKA smartPAD pro For robot controllers of the KR C5 series with KUKA System Soft- ware or VW System Software, only the model KUKA smartPAD-2 is used. For robot controllers of the KR C5 series with KUKA iiQKA.OS, on- ly the model KUKA smartPAD pro is used.

  • Page 22: Personnel

    For KUKA iiQKA.OS: not relevant at present For KUKA System Software / VW System Software: Axis of motion that does not belong to the manipulator, yet is con- trolled with the robot controller. For example, KUKA linear unit, turn- tilt table and positioner Personnel...

  • Page 23: Workspace, Safety Zone And Danger Zone

    Depending on the robot variant, the axis ranges of the main and wrist ax- es of the manipulator are partially limited by mechanical end stops. Additional mechanical end stops can be installed on the external axes. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 23/233...

  • Page 24: Mechanical Axis Limitation (Optional)

    • Put manipulator out of operation. • Put external axis out of operation. • KUKA must be consulted before they are put back into operation. 3.4.2 Mechanical axis limitation (optional) Some manipulators can be fitted with adjustable mechanical axis limitation systems in axes A1 to A3.

  • Page 25: Labeling On The Industrial Robot

    • Never loiter under the robot arm. CAUTION Risk of burns from hot motors The motors reach temperatures during operation which can cause burns. • Avoid contact. • Take appropriate safety precautions, e.g. wear protective gloves. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 25/233...
  • Page 26 The enabling switches on the smartPAD must be subjected to a function test at least once every 12 months and in certain specific cases. Information about function testing for KUKA robot controllers can be found in the “Safety” chapter of the operating or assembly instructions of the robot controller.

  • Page 27: Transportation

    External axis (optional) The prescribed transport position of the external axis (e.g. KUKA linear unit, turn-tilt table, positioner) must be observed. Transportation must be carried out in accordance with the operating instructions or assembly in- structions of the external axis.
  • Page 28 • Only connect the manipulator to the corresponding robot controller. Do not impair safety functions Additional components (e.g. cables and hoses) not supplied by KUKA may be integrated into the industrial robot. If the safety functions are not taken into consideration, this may result in death, severe injuries or damage to property.

  • Page 29: Manual Mode

    The minimum clearance that is to apply for the specific application must be decided by the user on the basis of a risk assessment. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 29/233...

  • Page 30: Automatic Mode

    • The EMERGENCY STOP devices must remain active. If safety func- tions or safeguards are deactivated during maintenance or repair work, they must be reactivated immediately after the work is completed. 30/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 31 • In Germany, the counterbalancing system is work equipment according to the German Ordinance on Industrial Safety and Health (BetrSichV). Inspection intervals in Germany in accordance with the Ordinance on Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 31/233...

  • Page 32: Decommissioning, Storage And Disposal

    Use current safety data sheets Knowledge of the safety data sheets of the substances and mixtures used is a prerequisite for the safe use of KUKA products. Death, injuries or damage to property may otherwise result. • Request up-to-date safety data sheets from the manufacturers of hazardous substances regularly.

  • Page 33: Technical Data

    KR 250 R2700-2 315 kg KR 250 R2700-2 250 kg KR 250 R2700-2 305 kg KR 300 R2700-2 370 kg KR 300 R2700-2 300 kg KR 300 R2700-2 366 kg Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 33/233...
  • Page 34 2701 mm 56.3 m³ KR 250 R2700-2 KR 250 R2700-2 2671 mm 51.8 m³ KR 300 R2700-2 2701 mm 56.3 m³ KR 300 R2700-2 KR 300 R2700-2 2671 mm 51.8 m³ 34/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 35 KR 250 R2700-2 IP65 / IP67 KR 250 R2700-2 approx. 1105 kg IP65 KR 300 R2700-2 approx. 1101 kg KR 300 R2700-2 IP65 / IP67 KR 300 R2700-2 approx. 1105 kg IP65 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 35/233...
  • Page 36 ± 5 ° KR 250 R2700-2 KR 250 R2700-2 Ceiling ± 0 ° KR 300 R2700-2 Floor ± 5 ° KR 300 R2700-2 KR 300 R2700-2 Ceiling ± 0 ° 36/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 37 Ambient conditions, KR 210 R2700-2 Humidity class (EN 60204) Classification of environmental conditions (EN 60721-3-3) Cleanroom class (ISO 14644-1) Class 6 at 40% override; Class 6 at 80% override Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 37/233...
  • Page 38 Interface with robot robot Motor cable 6 motor connectors: Han® 16HP XD20.1 … XD20.6 - XD30 2 brake connectors: XD10.1, XD10.2 - XD30 Data cable XF21 - XF31 Han® 3A Q12 38/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 39: Axis Data Overview

    -120 ° / 168 ° ±350 ° ±125 ° ±350 ° KR 210 R3100-2 ±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 ° Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 39/233...

  • Page 40: Motion Range

    KR 150 R3100-2 105 °/s 107 °/s 114 °/s 190 °/s 180 °/s 260 °/s KR 150 R3100-2 F 105 °/s 107 °/s 114 °/s 190 °/s 180 °/s 260 °/s 40/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 41 105 °/s 101 °/s 107 °/s 140 °/s 113 °/s 180 °/s The direction of motion and the arrangement of the individual axes may be noted from the following diagram. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 41/233...
  • Page 42 The following diagrams show the shape and size of the working envelope for these variants of this product family. The reference point for the working envelope is the intersection of axes 4 and 5. 42/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 43 KR QUANTEC-2 Working envelope, KR 120 R2700-2 Fig. 4-2: KR 120 R2700-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 43/233...
  • Page 44 KR QUANTEC-2 Working envelope, KR 120 R2700-2 F Fig. 4-3: KR 120 R2700-2 F, working envelope, overall 44/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 45 KR QUANTEC-2 Working envelope, KR 120 R3100-2 Fig. 4-4: KR 120 R3100-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 45/233...
  • Page 46 KR QUANTEC-2 Working envelope, KR 120 R3100-2 F Fig. 4-5: KR 120 R3100-2 F, working envelope, overall 46/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 47 KR QUANTEC-2 Working envelope, KR 150 R2700-2 Fig. 4-6: KR 150 R2700-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 47/233...
  • Page 48 KR QUANTEC-2 Working envelope, KR 150 R2700-2 F Fig. 4-7: KR 150 R2700-2 F, working envelope, overall 48/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 49 KR QUANTEC-2 Working envelope, KR 150 R3100-2 Fig. 4-8: KR 150 R3100-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 49/233...
  • Page 50 KR QUANTEC-2 Working envelope, KR 150 R3100-2 F Fig. 4-9: KR 150 R3100-2 F, working envelope, overall 50/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 51 KR QUANTEC-2 Working envelope, KR 180 R2900-2 Fig. 4-10: KR 180 R2900-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 51/233...
  • Page 52 KR QUANTEC-2 Working envelope, KR 180 R2900-2 F Fig. 4-11: KR 180 R2900-2 F, working envelope, overall 52/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 53 KR QUANTEC-2 Working envelope, KR 210 R2700-2 Fig. 4-12: KR 210 R2700-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 53/233...
  • Page 54 KR QUANTEC-2 Working envelope, KR 210 R2700-2 F Fig. 4-13: KR 210 R2700-2 F, working envelope, overall 54/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 55 KR QUANTEC-2 Working envelope, KR 210 R3100-2 Fig. 4-14: KR 210 R3100-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 55/233...
  • Page 56 KR QUANTEC-2 Working envelope, KR 210 R3100-2 F Fig. 4-15: KR 210 R3100-2 F, working envelope, overall 56/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 57 KR QUANTEC-2 Working envelope, KR 210 R3100-2 C Fig. 4-16: KR 210 R3100-2 C, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 57/233...
  • Page 58 KR QUANTEC-2 Working envelope, KR 240 R2900-2 Fig. 4-17: KR 240 R2900-2, working envelope, overall 58/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 59 KR QUANTEC-2 Working envelope, KR 240 R2900-2 F Fig. 4-18: KR 240 R2900-2 F, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 59/233...
  • Page 60 KR QUANTEC-2 Working envelope, KR 240 R2900-2 C Fig. 4-19: KR 240 R2900-2 C, working envelope, overall 60/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 61 KR QUANTEC-2 Working envelope, KR 250 R2700-2 Fig. 4-20: KR 250 R2700-2, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 61/233...
  • Page 62 KR QUANTEC-2 Working envelope, KR 250 R2700-2 F Fig. 4-21: KR 250 R2700-2 F, working envelope, overall 62/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 63 KR QUANTEC-2 Working envelope, KR 250 R2700-2 C Fig. 4-22: KR 250 R2700-2 C, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 63/233...
  • Page 64 KR QUANTEC-2 Working envelope, KR 300 R2700-2 Fig. 4-23: KR 300 R2700-2, working envelope, overall 64/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 65 KR QUANTEC-2 Working envelope, KR 300 R2700-2 F Fig. 4-24: KR 300 R2700-2 F, working envelope, overall Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 65/233...
  • Page 66 KR QUANTEC-2 Working envelope, KR 300 R2700-2 C Fig. 4-25: KR 300 R2700-2 C, working envelope, overall 66/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 67: Payloads Overview

    KR 250 R2700-2 F 250 kg 300 kg KR 250 R2700-2 C 305 kg KR 300 R2700-2 370 kg KR 300 R2700-2 F 300 kg 350 kg KR 300 R2700-2 C 366 kg Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 67/233...
  • Page 68 KR 210 R3100-2 KR 240 R2900-2 KR 240 R2900-2 KR 240 R2900-2 KR 250 R2700-2 KR 250 R2700-2 KR 250 R2700-2 KR 300 R2700-2 KR 300 R2700-2 KR 300 R2700-2 68/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 69 KR 210 R3100-2 KR 240 R2900-2 KR 240 R2900-2 KR 240 R2900-2 KR 250 R2700-2 KR 250 R2700-2 KR 250 R2700-2 KR 300 R2700-2 KR 300 R2700-2 KR 300 R2700-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 69/233...
  • Page 70 • A characteristic feature of the main axis system is that, among other things, the maximum possible inertia occurs about one of the 3 coordi- nate axes. Further information is contained in the KUKA Load documentation. 70/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 71 KR QUANTEC-2 Payload diagram, KR 120 R2700-2 Fig. 4-27: Payload diagram, KR 120 R2700-2 Payload diagram, KR 120 R2700-2 F Fig. 4-28: Payload diagram, KR 120 R2700-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 71/233...
  • Page 72 KR QUANTEC-2 Payload diagram, KR 120 R3100-2 Fig. 4-29: Payload diagram, KR 120 R3100-2 Payload diagram, KR 120 R3100-2 F Fig. 4-30: Payload diagram, KR 120 R3100-2 F 72/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 73 KR QUANTEC-2 Payload diagram, KR 150 R2700-2 Fig. 4-31: Payload diagram, KR 150 R2700-2 Payload diagram, KR 150 R2700-2 F Fig. 4-32: Payload diagram, KR 150 R2700-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 73/233...
  • Page 74 KR QUANTEC-2 Payload diagram, KR 150 R3100-2 Fig. 4-33: Payload diagram, KR 150 R3100-2 Payload diagram, KR 150 R3100-2 F Fig. 4-34: Payload diagram, KR 150 R3100-2 F 74/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 75 KR QUANTEC-2 Payload diagram, KR 180 R2900-2 Fig. 4-35: Payload diagram, KR 180 R2900-2 Payload diagram, KR 180 R2900-2 F Fig. 4-36: Payload diagram, KR 180 R2900-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 75/233...
  • Page 76 KR QUANTEC-2 Payload diagram, KR 210 R2700-2 Fig. 4-37: Payload diagram, KR 210 R2700-2 Payload diagram, KR 210 R2700-2 F Fig. 4-38: Payload diagram, KR 210 R2700-2 F 76/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 77 KR QUANTEC-2 Payload diagram, KR 210 R3100-2 Fig. 4-39: Payload diagram, KR 210 R3100-2 Payload diagram, KR 210 R3100-2 F Fig. 4-40: Payload diagram, KR 210 R3100-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 77/233...
  • Page 78 KR QUANTEC-2 Payload diagram, KR 210 R3100-2 C Fig. 4-41: Payload diagram, KR 210 R3100-2 C Payload diagram, KR 240 R2900-2 Fig. 4-42: KR 240 R2900-2, payload diagram 78/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 79 KR QUANTEC-2 Payload diagram, KR 240 R2900-2 F Fig. 4-43: KR 240 R2900-2 F, payload diagram Payload diagram, KR 240 R2900-2 C Fig. 4-44: KR 240 R2900-2 C, payload diagram Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 79/233...
  • Page 80 KR QUANTEC-2 Payload diagram, KR 250 R2700-2 Fig. 4-45: Payload diagram, KR 250 R2700-2 Payload diagram, KR 250 R2700-2 F Fig. 4-46: Payload diagram, KR 250 R2700-2 F 80/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 81 KR QUANTEC-2 Payload diagram, KR 250 R2700-2 C Fig. 4-47: Payload diagram, KR 250 R2700-2 C Payload diagram, KR 300 R2700-2 Fig. 4-48: Payload diagram, KR 300 R2700-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 81/233...
  • Page 82 For start-up of the robot, additional input data are required in ac- cordance with the documentation for the 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! The manipulator is designed for its respective rated payload in order to optimize the dynamic performance of the robot.
  • Page 83 KR QUANTEC-2 be mounted. The specific load case must be verified using KUKA Load. For further consultation, please contact KUKA Service. Mounting flange D=125 Designation Robot wrist type Mounting flange standard KR 120 R2700-2 ZH210 KR 120 R2700-2 F ZH210 F...
  • Page 84 Fig. 4-52: Mounting flange D=160 Flange loads The motion of the robot causes forces and torques to act on the mounting flange, which are transmitted to the mounted payload (e.g. tool). 84/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 85 6167 N 8625 N KR 150 R2700-2 F 4005 N 3631 N 6167 N 8625 N KR 150 R3100-2 4005 N 3631 N 6167 N 8625 N KR 150 R3100-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 85/233...
  • Page 86 Tilting torque M(k), torque about mounting flange M(g) Flange loads in the case of EMERGENCY Flange loads during operation STOP M(k) M(g) M(k) M(g) KR 120 R2700-2 2343 Nm 1007 Nm 5862 Nm 4463 Nm 86/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 87 1649 Nm 6393 Nm 5225 Nm KR 250 R2700-2 F 3410 Nm 1649 Nm 6393 Nm 5225 Nm KR 250 R2700-2 C 3200 Nm 1700 Nm 6700 Nm 5700 Nm Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 87/233...
  • Page 88 When mounting the supplementary loads, be careful to observe the maximum permissible total load. The dimensions and posi- tions of the installation options can be seen in the following diagrams. 88/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 89 KR QUANTEC-2 Supplementary load, KR 120 R2700-2 Fig. 4-54: Fastening of supplementary load on arm/in-line wrist, KR 120 R2700-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 89/233...
  • Page 90 KR QUANTEC-2 Fig. 4-55: Fastening of supplementary load on rotating column/link arm, KR 120 R2700-2 90/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 91 KR QUANTEC-2 Supplementary load, KR 120 R2700-2 F Fig. 4-56: Fastening of supplementary load on arm/in-line wrist, KR 120 R2700-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 91/233...
  • Page 92 KR QUANTEC-2 Fig. 4-57: Fastening of supplementary load on rotating column/link arm, KR 120 R2700-2 F 92/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 93 KR QUANTEC-2 Supplementary load, KR 120 R3100-2 Fig. 4-58: Fastening of supplementary load on arm/in-line wrist, KR 120 R3100-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 93/233...
  • Page 94 KR QUANTEC-2 Fig. 4-59: Fastening of supplementary load on rotating column/link arm, KR 120 R3100-2 94/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 95 KR QUANTEC-2 Supplementary load, KR 120 R3100-2 F Fig. 4-60: Fastening of supplementary load on arm/in-line wrist, KR 120 R3100-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 95/233...
  • Page 96 KR QUANTEC-2 Fig. 4-61: Fastening of supplementary load on rotating column/link arm, KR 120 R3100-2 F 96/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 97 KR QUANTEC-2 Supplementary load, KR 150 R2700-2 Fig. 4-62: Fastening of supplementary load on arm/in-line wrist, KR 150 R2700-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 97/233...
  • Page 98 KR QUANTEC-2 Fig. 4-63: Fastening of supplementary load on rotating column/link arm, KR 150 R2700-2 98/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 99 KR QUANTEC-2 Supplementary load, KR 150 R2700-2 F Fig. 4-64: Fastening of supplementary load on arm/in-line wrist, KR 150 R2700-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 99/233...
  • Page 100 KR QUANTEC-2 Fig. 4-65: Fastening of supplementary load on rotating column/link arm, KR 150 R2700-2 F 100/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 101 KR QUANTEC-2 Supplementary load, KR 150 R3100-2 Fig. 4-66: Fastening of supplementary load on arm/in-line wrist, KR 150 R3100-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 101/233...
  • Page 102 KR QUANTEC-2 Fig. 4-67: Fastening of supplementary load on rotating column/link arm, KR 150 R3100-2 102/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 103 KR QUANTEC-2 Supplementary load, KR 150 R3100-2 F Fig. 4-68: Fastening of supplementary load on arm/in-line wrist, KR 150 R3100-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 103/233...
  • Page 104 KR QUANTEC-2 Fig. 4-69: Fastening of supplementary load on rotating column/link arm, KR 150 R3100-2 F 104/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 105 KR QUANTEC-2 Supplementary load, KR 180 R2900-2 Fig. 4-70: Fastening of supplementary load, arm/in-line wrist, KR 180 R2900-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 105/233...
  • Page 106 KR QUANTEC-2 Fig. 4-71: Fastening of supplementary load on rotating column/link arm, KR 180 R2900-2 106/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 107 KR QUANTEC-2 Supplementary load, KR 180 R2900-2 F Fig. 4-72: Fastening of supplementary load, arm/in-line wrist, KR 180 R2900-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 107/233...
  • Page 108 KR QUANTEC-2 Fig. 4-73: Fastening of supplementary load on rotating column/link arm, KR 180 R2900-2 F 108/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 109 KR QUANTEC-2 Supplementary load, KR 210 R2700-2 Fig. 4-74: Fastening of supplementary load on arm/in-line wrist, KR 210 R2700-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 109/233...
  • Page 110 KR QUANTEC-2 Fig. 4-75: Fastening of supplementary load on rotating column/link arm, KR 210 R2700-2 110/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 111 KR QUANTEC-2 Supplementary load, KR 210 R2700-2 F Fig. 4-76: Fastening of supplementary load on arm/in-line wrist, KR 210 R2700-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 111/233...
  • Page 112 KR QUANTEC-2 Fig. 4-77: Fastening of supplementary load on rotating column/link arm, KR 210 R2700-2 F 112/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 113 KR QUANTEC-2 Supplementary load, KR 210 R3100-2 Fig. 4-78: Fastening of supplementary load on arm/in-line wrist, KR 210 R3100-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 113/233...
  • Page 114 KR QUANTEC-2 Fig. 4-79: Fastening of supplementary load on rotating column/link arm, KR 210 R3100-2 114/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 115 KR QUANTEC-2 Supplementary load, KR 210 R3100-2 F Fig. 4-80: Fastening of supplementary load on arm/in-line wrist, KR 210 R3100-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 115/233...
  • Page 116 KR QUANTEC-2 Fig. 4-81: Fastening of supplementary load on rotating column/link arm, KR 210 R3100-2 F 116/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 117 KR QUANTEC-2 Supplementary load, KR 210 R3100-2 C Fig. 4-82: Fastening of supplementary load on arm/in-line wrist, KR 210 R3100-2 C Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 117/233...
  • Page 118 KR QUANTEC-2 Fig. 4-83: Fastening of supplementary load on rotating column/link arm, KR 210 R3100-2 C 118/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 119 KR QUANTEC-2 Supplementary load, KR 240 R2900-2 Fig. 4-84: Fastening of supplementary load, arm/in-line wrist, KR 240 R2900-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 119/233...
  • Page 120 KR QUANTEC-2 Fig. 4-85: Fastening of supplementary load on rotating column/link arm, KR 240 R2900-2 120/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 121 KR QUANTEC-2 Supplementary load, KR 240 R2900-2 F Fig. 4-86: Fastening of supplementary load, arm/in-line wrist, KR 240 R2900-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 121/233...
  • Page 122 KR QUANTEC-2 Fig. 4-87: Fastening of supplementary load on rotating column/link arm, KR 240 R2900-2 F 122/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 123 KR QUANTEC-2 Supplementary load, KR 240 R2900-2 C Fig. 4-88: Fastening of supplementary load, arm/in-line wrist, KR 240 R2900-2 C Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 123/233...
  • Page 124 KR QUANTEC-2 Fig. 4-89: Fastening of supplementary load on rotating column/link arm, KR 240 R2900-2 C 124/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 125 KR QUANTEC-2 Supplementary load, KR 250 R2700-2 Fig. 4-90: Fastening of supplementary load, arm/in-line wrist, KR 250 R2700-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 125/233...
  • Page 126 KR QUANTEC-2 Fig. 4-91: Fastening of supplementary load on rotating column/link arm, KR 250 R2700-2 126/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 127 KR QUANTEC-2 Supplementary load, KR 250 R2700-2 F Fig. 4-92: Fastening of supplementary load, arm/in-line wrist, KR 250 R2700-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 127/233...
  • Page 128 KR QUANTEC-2 Fig. 4-93: Fastening of supplementary load on rotating column/link arm, KR 250 R2700-2 F 128/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 129 KR QUANTEC-2 Supplementary load, KR 250 R2700-2 C Fig. 4-94: Fastening of supplementary load, arm/in-line wrist, KR 250 R2700-2 C Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 129/233...
  • Page 130 KR QUANTEC-2 Fig. 4-95: Fastening of supplementary load on rotating column/link arm, KR 250 R2700-2 C 130/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 131 KR QUANTEC-2 Supplementary load, KR 300 R2700-2 Fig. 4-96: Fastening of supplementary load, arm/in-line wrist, KR 300 R2700-2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 131/233...
  • Page 132 KR QUANTEC-2 Fig. 4-97: Fastening of supplementary load on rotating column/link arm, KR 300 R2700-2 132/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 133 KR QUANTEC-2 Supplementary load, KR 300 R2700-2 F Fig. 4-98: Fastening of supplementary load, arm/in-line wrist, KR 300 R2700-2 F Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 133/233...
  • Page 134 KR QUANTEC-2 Fig. 4-99: Fastening of supplementary load on rotating column/link arm, KR 300 R2700-2 F 134/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 135 KR QUANTEC-2 Supplementary load, KR 300 R2700-2 C Fig. 4-100: Fastening of supplementary load, arm/in-line wrist, KR 300 R2700-2 C Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 135/233...

  • Page 136: Foundation Loads Overview

    Foundation loads overview Depending on the payload (e.g. tool), supplementary load and the robot’s own mass (weight), the motion of the robot generates forces and torques which are transmitted to the foundation. 136/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 137 An incorrectly dimensioned foundation can fracture and fail. Death, se- vere injuries or damage to property may result. • Calculate the foundation loads for each individual case. • Use the specified installation equipment. Illustration, standard Fig. 4-102: Foundation loads Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 137/233...
  • Page 138 Designation: KR 180 R2900-2 18164 N 24033 N Designation: KR 180 R2900-2 F 18164 N 24033 N Designation: KR 210 R2700-2 18164 N 24033 N Designation: KR 210 R2700-2 F 138/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 139 7626 N 20063 N Designation: KR 120 R3100-2 F 7626 N 20063 N Designation: KR 150 R2700-2 7626 N 20063 N Designation: KR 150 R2700-2 F 7626 N 20063 N Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 139/233...
  • Page 140 8600 N 20600 N Designation: KR 300 R2700-2 7626 N 20063 N Designation: KR 300 R2700-2 F 7626 N 20063 N Designation: KR 300 R2700-2 C 8600 N 20600 N 140/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 141 22790 Nm 38237 Nm Designation: KR 240 R2900-2 C 19800 Nm 43200 Nm Designation: KR 250 R2700-2 22790 Nm 38237 Nm Designation: KR 250 R2700-2 F 22790 Nm 38237 Nm Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 141/233...
  • Page 142 7817 Nm 17833 Nm KR 210 R2700-2 F 7817 Nm 17833 Nm KR 210 R3100-2 7817 Nm 17833 Nm KR 210 R3100-2 F 7817 Nm 17833 Nm KR 210 R3100-2 C 142/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 143: Plates And Labels

    Plates and labels The following plates and labels (>>> Fig. 4-104) are attached to the robot. They must not be removed or rendered illegible. Illegible plates and labels must be replaced. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 143/233...
  • Page 144 Secure the axes Before exchanging any motor, secure the corresponding axis through safeguarding by suitable means/devices to protect against possible movement. The axis can move. Risk of crush- ing! 144/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 145 KR QUANTEC-2 Identification plate example Content according to Machinery Directive. The QR code contains a link to product information in KUKA Xpert. Transport position Before loosening the bolts of the mounting base, the robot must be in the transport position as indicated in the table. Risk of...
  • Page 146 Work on the robot Before start-up, transportation or maintenance, read and follow the assembly and operating instructions. Example of identification plate for Foundry Content according to Machinery Directive. For Foundry only 146/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 147: Reach Duty To Communicate Information Acc. To Art. 33

    • 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 according to IEC 60204-1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 147/233...
  • Page 148 Brake closes signal (WDI motor status bit 2) to complete standstill. • The stopping time is the time that elapses from the Brake closes sig- nal (WDI motor status bit 2) until the robot comes to a complete standstill. 148/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 149: Stopping Distances And Times, Kr 120 R2700-2 And Kr 120 R2700-2 F

    • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 41.21 ° 20.02 ° 22.99 ° Stopping time 0.65 s 0.38 s 0.33 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 149/233...

  • Page 150: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.2.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-105: Stopping distances for STOP 1, axis 1 150/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 151 KR QUANTEC-2 Fig. 4-106: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 151/233...

  • Page 152: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.2.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-107: Stopping distances for STOP 1, axis 2 152/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 153 KR QUANTEC-2 Fig. 4-108: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 153/233...

  • Page 154: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 45.57 ° 19.95 ° 20.31 ° 154/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 155 KR QUANTEC-2 Stopping time 0.77 s 0.46 s 0.35 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 155/233...

  • Page 156: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.3.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-111: Stopping distances for STOP 1, axis 1 156/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 157 KR QUANTEC-2 Fig. 4-112: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 157/233...

  • Page 158: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.3.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-113: Stopping distances for STOP 1, axis 2 158/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 159 KR QUANTEC-2 Fig. 4-114: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 159/233...

  • Page 160: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 42.27 ° 20.58 ° 20.79 ° 160/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 161 KR QUANTEC-2 Stopping time 0.68 s 0.43 s 0.36 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 161/233...

  • Page 162: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.4.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-117: Stopping distances for STOP 1, axis 1 162/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 163 KR QUANTEC-2 Fig. 4-118: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 163/233...

  • Page 164: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.4.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-119: Stopping distances for STOP 1, axis 2 164/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 165 KR QUANTEC-2 Fig. 4-120: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 165/233...

  • Page 166: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 41.52 ° 18.28 ° 14.86 ° 166/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 167 KR QUANTEC-2 Stopping time 0.72 s 0.46 s 0.30 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 167/233...

  • Page 168: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.5.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-123: Stopping distances for STOP 1, axis 1 168/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 169 KR QUANTEC-2 Fig. 4-124: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 169/233...

  • Page 170: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.5.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-125: Stopping distances for STOP 1, axis 2 170/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 171 KR QUANTEC-2 Fig. 4-126: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 171/233...

  • Page 172: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 40.86 ° 18.16 ° 16.52 ° 172/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 173 KR QUANTEC-2 Stopping time 0.74 s 0.42 s 0.31 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 173/233...

  • Page 174: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.6.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-129: Stopping distances for STOP 1, axis 1 174/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 175 KR QUANTEC-2 Fig. 4-130: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 175/233...

  • Page 176: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.6.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-131: Stopping distances for STOP 1, axis 2 176/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 177 KR QUANTEC-2 Fig. 4-132: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 177/233...

  • Page 178: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 43.00 ° 20.45 ° 16.54 ° 178/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 179 KR QUANTEC-2 Stopping time 0.77 s 0.49 s 0.38 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 179/233...

  • Page 180: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.7.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-135: Stopping distances for STOP 1, axis 1 180/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 181 KR QUANTEC-2 Fig. 4-136: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 181/233...

  • Page 182: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.7.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-137: Stopping distances for STOP 1, axis 2 182/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 183 KR QUANTEC-2 Fig. 4-138: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 183/233...

  • Page 184: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 32.39 ° 16.74 ° 184/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 185 KR QUANTEC-2 16.27 ° Stopping time 0.70 s 0.44 s 0.35 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 185/233...

  • Page 186: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.8.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-141: Stopping distances for STOP 1, axis 1 186/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 187 KR QUANTEC-2 Fig. 4-142: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 187/233...

  • Page 188: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.8.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-143: Stopping distances for STOP 1, axis 2 188/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 189 KR QUANTEC-2 Fig. 4-144: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 189/233...

  • Page 190: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 32.41 ° 16.20 ° 190/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 191 KR QUANTEC-2 17.04 ° Stopping time 0.66 s 0.43 s 0.37 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 191/233...

  • Page 192: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.9.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-147: Stopping distances for STOP 1, axis 1 192/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 193 KR QUANTEC-2 Fig. 4-148: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 193/233...

  • Page 194: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.9.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-149: Stopping distances for STOP 1, axis 2 194/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 195 KR QUANTEC-2 Fig. 4-150: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 195/233...

  • Page 196: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 34.49 ° 14.81 ° 196/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 197 KR QUANTEC-2 20.42 ° Stopping time 0.67 s 0.42 s 0.38 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 197/233...

  • Page 198: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.10.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-153: Stopping distances for STOP 1, axis 1 198/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 199 KR QUANTEC-2 Fig. 4-154: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 199/233...

  • Page 200: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.10.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-155: Stopping distances for STOP 1, axis 2 200/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 201 KR QUANTEC-2 Fig. 4-156: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 201/233...

  • Page 202: Stopping Distances And Stopping Times, Stop 1, A3

    The values for stop category 0 when a STOP 0 is triggered refer to the following configuration: • Extension l = 100% • Program override POV = 100% • Mass m = rated payload Stopping distance 32.24 ° 14.85 ° 202/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 203 KR QUANTEC-2 17.46 ° Stopping time 0.67 s 0.38 s 0.38 s Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 203/233...

  • Page 204: Stopping Distances And Stopping Times, Stop 1, A1

    KR QUANTEC-2 4.7.11.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-159: Stopping distances for STOP 1, axis 1 204/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 205 KR QUANTEC-2 Fig. 4-160: Stopping times for STOP 1, axis 1 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 205/233...

  • Page 206: Stopping Distances And Stopping Times, Stop 1, A2

    KR QUANTEC-2 4.7.11.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-161: Stopping distances for STOP 1, axis 2 206/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 207 KR QUANTEC-2 Fig. 4-162: Stopping times for STOP 1, axis 2 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 207/233...

  • Page 208: Stopping Distances And Stopping Times, Stop 1, A3

    KR QUANTEC-2 4.7.11.4 Stopping distances and stopping times, STOP 1, A3 Fig. 4-163: Stopping distances for STOP 1, axis 3 Fig. 4-164: Stopping times for STOP 1, axis 3 208/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 209: Planning

    There must be no layers of insulation or screed between the bedplates and the concrete foundation. The minimum dimensions must be observed. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 209/233...
  • Page 210 The specified foundation dimensions refer to the safe transmission of the foun- dation loads into the foundation and not to the stability of the foundation. 210/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 211 To ensure that the anchor forces are safely transmitted to the foundation, observe the dimensions for concrete foundations specified in the following illustration. Fig. 5-3: Foundation cross-section Locating pin Chemical anchor Hexagon bolt with lock wash- Concrete foundation Bedplate Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 211/233...

  • Page 212: Mounting Base 150 Mm (Optional)

    There must be no layers of insulation or screed between the bedplate and the concrete foundation. The minimum dimensions must be observed. 212/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 213 The specified foundation dimensions refer to the safe transmission of the foun- dation loads into the foundation and not to the stability of the foundation. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 213/233...
  • Page 214 To ensure that the anchor forces are safely transmitted to the foundation, observe the dimensions for concrete foundations specified in the following illustration. Fig. 5-6: Foundation cross-section Chemical anchor (16x) Bedplate 214/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 215: Machine Frame Mounting

    The machine frame mounting assembly is used when the robot is fas- tened on a steel structure, a booster frame (pedestal) or a KUKA linear unit. This assembly is also used if the robot is installed on the ceiling. It must be ensured that the substructure is able to withstand safely the forces occurring during operation (foundation loads).
  • Page 216 • The stability must be ensured by the integrator or start-up techni- cian. Dimensioned drawing The following illustration (>>> Fig. 5-8) provides all the necessary informa- tion on machine frame mounting, together with the required foundation da- 216/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 217: Connecting Cables And Interfaces

    The maximum length of the connecting cables must not exceed 50 m. The maximum number of connectors is 1, i.e. a maximum of 2 connecting cables may be combined with each other. Thus Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 217/233...
  • Page 218 • The connecting cables must be installed in such a way (e.g. cable ducts) as to prevent tripping hazards. • Potential tripping hazards must be marked accordingly. Interface A1 Interface A1 is located at the rear of the base frame. 218/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 219 They can be equipped, for example, with connections for cables and hoses. Detailed information on the con- nector pin allocation, threaded unions, etc. is given in separate documen- tation. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 219/233...
  • Page 220 KR QUANTEC-2 220/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 221: Transportation

    6-2) for the robot can be noted from the following diagram. The position of the center of gravity and the weight vary according to the specific configuration and the position of Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 221/233...
  • Page 222 KR 150 R2700-2 1785 1614 KR 150 R2700-2 KR 150 R3100-2 1921 1798 KR 150 R3100-2 KR 180 R2900-2 1921 1614 KR 180 R2900-2 KR 210 R2700-2 1785 1614 KR 210 R2700-2 222/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 223 Overloading the fork slots during transportation can cause damage to property. • Avoid overloading the fork slots through undue inward or outward movement of hydraulically adjustable forks of the fork lift truck. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 223/233...
  • Page 224 If necessary, the robot must be set down again and the chain read- justed. Leg G3 must be slipped around the mount for the counterbalancing system on the rotating column. It must not subject the 224/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 225 The lashing belt must not be placed over the motor or other robot compo- nents and thus subjected to a load. Damage to property may otherwise result. The transport safeguard and fork slots can be removed for operation. Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 225/233...
  • Page 226 KR QUANTEC-2 Fig. 6-6: Transport safeguard Transport safeguard Fork slot 226/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 227: Appendix

    EN ISO 10218-1:2011 Robots and robotic devices – Safety requirements for industri- al robots: Part 1: Robots EN ISO 12100:2010 Safety of machinery: General principles of design, risk assessment and risk reduction Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 227/233...
  • Page 228 Safety-related parts of control systems - Part 1: General principles of design EN ISO 13849-2:2012 Safety of machinery: Safety-related parts of control systems - Part 2: Validation EN ISO 13850:2015 Safety of machinery: Emergency stop - Principles for design 228/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 229: Kuka Service

    ‒ System software diagnosis package Additionally for KUKA Sunrise: Existing projects including applica- tions For versions of KUKA System Software older than V8: Archive of the software (Diagnosis package is not yet available here.) ‒ Application used ‒ External axes used...
  • Page 230 KR QUANTEC-2 230/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...

  • Page 231: Index

    Industrial Robots and Robot System...227 Information for planning....... 209 Interface A1..........218 Interface, energy supply system....219 EC declaration of conformity......20 Interfaces............217 EDS..............8 Introduction............7 EDS cool............8 Electrical installations........16 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 231/233...
  • Page 232 Stopping times...147, 149, 154, 160, 166, 172, P................9 178, 184, 190, 196, PA..............9 Storage............32 Payloads............67 Supplementary load........88 Personal protective equipment...... 22 Support request..........229 Personnel............22 System integrator........20–22 Phi..............9 Planning............209 232/233 | www.kuka.com Spez KR QUANTEC-2 V10 | Issued: 29.01.2024...
  • Page 233 Transportation........27, 221 Transportation by fork lift truck....223 Transportation with lifting tackle....224 Turn-tilt table...........19 Intended............. 17 User............20, 22 Users..............7 W..............10 Warnings............7 Workspace........... 8, 20, 23 WP..............10 Spez KR QUANTEC-2 V10 | Issued: 29.01.2024 www.kuka.com | 233/233...

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