Kuka KR 12 SCARA Assembly Instructions Manual
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Kuka KR 12 SCARA Assembly Instructions Manual

Kuka KR 12 SCARA Assembly Instructions Manual

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Robots
KR 12 SCARA
Assembly Instructions
Issued: 23.02.2023
MA KR 12 SCARA V3
KUKA Robotics Guangdong

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Summary of Contents for Kuka KR 12 SCARA

  • Page 1 Robots KR 12 SCARA Assembly Instructions Issued: 23.02.2023 MA KR 12 SCARA V3 KUKA Robotics Guangdong...
  • Page 2 China This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Robotics Guangdong Co., Ltd. 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

    Technical data, KR 12 R650 Z340 CR..............4.3.1 Basic data, KR 12 R650 Z340 CR............... 4.3.2 Axis data, KR 12 R650 Z340 CR................. 4.3.3 Payloads, KR 12 R650 Z340 CR................. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 3/199...
  • Page 4 4.11.5.1 Stopping distances and stopping times, STOP 0, A1 to A3....... 4.11.5.2 Stopping distances and stopping times, STOP 1, A1.......... 4.11.5.3 Stopping distances and stopping times, STOP 1, A2.......... 4/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 5 Dimensions of connectors on the controller side..........Moving the manipulator via brake release button..........Moving the manipulator without drive energy via brake release device..... Maintenance....................163 Maintenance overview................... 8.1.1 Maintenance table....................Greasing the spindle..................... MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 5/199...
  • Page 6 Concluding work....................Appendix....................191 12.1 Tightening torques....................12.2 Auxiliary and operating materials used..............12.3 Applied standards and regulations............... KUKA Service................... 195 13.1 Requesting support....................13.2 KUKA Customer Support..................Index 6/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 7: Introduction

    • Facilitation of verification and testing • Procedure for documenting source code 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

    Stopping distance = reaction distance + braking distance The stopping distance is part of the danger zone. Workspace Area within which the robot may move. The workspace is derived from the individual axis ranges. 8/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 9 Resolver Digital Converter The resolver digital converter is used to acquire motor data (e.g. position data, motor temperatures). MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 9/199...
  • Page 10 The smartPAD has all the operator control and display functions re- quired for operating and programming the industrial robot. For robot controllers of the KR C5 series with KUKA System Soft- ware or VW System Software, the model KUKA smartPAD-2 is used.

  • Page 11: Product Description

    KR 12 SCARA Product description Overview of the robot system Description This documentation is only for the following KR 12 SCARA manipulators with 12 kg maximum payload. These manipulators belong to the KR SCARA product family. • KR 12 R650 Z400 •...

  • Page 12: Description Of The Manipulator

    2.2.2 "Electrical installations" Page Base frame (>>> 2.2.3 "Base frame" Page Link arm (>>> 2.2.4 "Link arm" Page 2.2.1 Description The arm (>>> Fig. 2-3) has the following axes: 12/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 13: Electrical Installations

    • Motor cables for motor 1 to 4 • Data cables for motor 1 to 4 • I/O cables • Gas pipes • Ethernet cable • Connecting cable set for the robot controller MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 13/199...

  • Page 14: Base Frame

    2-5) is the base of the manipulator. Axis 1 is in the base frame. The interface of electrical installation is located at the rear of the base frame. Fig. 2-5: Base frame 14/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 15: Link Arm

    Any use or application deviating from the intended use is deemed to be misuse and is not allowed. It will result in the loss of warranty and liability claims. KUKA is not liable for any damage due to such misuse. This in- cludes e.g.: •...
  • Page 16 • If the operating conditions do not conform to the related information, contact KUKA. The robot system is an integral part of a complete system and may only be operated in a CE-compliant system. 16/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 17: 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 18: 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. 18/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 19 • 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 20: Personnel

    Test mode, Manual High Velocity (> 250 mm/s permissible) External axis Motion axis which is not part of the manipulator but is controlled by the robot controller, e.g. KUKA linear unit, turn-tilt table, positioner. Personnel The following persons or groups of persons are defined for the industrial robot: •...

  • Page 21: Workspace, Safety Zone And Danger Zone

    Overview of protective equipment The protective equipment of the mechanical component may include: • Mechanical end stops • Mechanical axis limitation (optional) • Release device (optional) • Brake release device (optional) MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 21/199...

  • Page 22: Mechanical End Stops

    • 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 23: Labeling On The Industrial Robot

    In the absence of operational safety functions or safeguards, the indus- trial robot can cause death, severe injuries or damage to property. • If safety functions or safeguards are dismantled or deactivated, do not operate the industrial robot. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 23/199...
  • Page 24 • There are no persons in the danger zone. The KCP/smartPAD must not be used as long as an external keyboard and/or external mouse are connected to the control cabinet. 24/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 25: 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 26 The correct functioning of all safety circuits must also be tested. Changing default passwords The KUKA System Software is supplied with default passwords for the user groups. If the passwords are not changed, this enables unauthor- ized persons to log on.

  • Page 27: Manual Mode

    • All setup work must be carried out, where possible, from outside the safeguarded area. Setup work in T1 If it can be avoided, there must be no persons inside the safeguarded area. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 27/199...

  • Page 28: Automatic Mode

    The valid national or regional work safety regula- tions must be observed for this check. The correct functioning of all safety functions must also be tested. 28/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 29 To prevent life-threatening injuries, no work may be carried out on the industrial robot in this time. On robot controllers with transformers, the transformers must be discon- nected before working on components in the robot controller. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 29/199...

  • Page 30: 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 31: Technical Data

    4.6 "Technical data, KR 12 R750 Z600" Page • Plates and labels (>>> 4.9 "Plates and labels" Page • Stopping distances and stopping times (>>> 4.11.6 "Stopping distances and times, KR 12 R750 Z600" Page 120) MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 31/199...

  • Page 32: Technical Data, Kr 12 R650 Z400

    KUKA Industrial Orange (RAL 2009); Signal white (RAL 9003) Controller KR C5 micro Transformation name KR C5: KR12R650 SC 400 Time per cycle 0.40 s Cleanroom class (ISO 14644-1) 32/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 33: Axis Data, Kr 12 R650 Z400

    Axis velocity, axis 3 1.1 m/s Axis velocity, axis 4 2700 °/s The direction of motion and the arrangement of the individual axes may be noted from the following diagram. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 33/199...
  • Page 34 Working envelope The following diagrams show the shape and size of the working envelope. Fig. 4-2: KR 12 R650 Z400, working envelope, side view 34/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 35: Payloads, Kr 12 R650 Z400

    0.02 kgm² flange Ix Load center of gravity For all payloads, the load center of gravity refers to the distance from the face of the mounting flange on axis 4. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 35/199...
  • Page 36 • Check both values (payload and mass moment of inertia) in all ca- ses. • Use KUKA.Load to verify the mass moment of inertia. • Check if the additional data are entered according to the operating and programming instructions of the KUKA System Software.
  • Page 37 With the reduced load center distances, higher loads up to the maximum payload may be used. The specific load case must be verified using KUKA.Load. For fur- ther consultation, please contact KUKA Support.
  • Page 38 The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually suffi- cient. 38/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 39 The dimensions and the installa- tion position are specified in the following diagram. The maximum load must be noticed for mounting the supplementary load. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 39/199...

  • Page 40: Foundation Loads, Kr 12 R650 Z400

    M(k normal) 650 Nm M(k max) 650 Nm M(r normal) 350 Nm M(r max) 580 Nm Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r) 40/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 41: Technical Data, Kr 12 R650 Z340 Cr

    ± 0.025 mm Pose repeatability Z ± 0.005 mm Pose repeatability R ± 0.005 ° Weight approx. 51 kg Rated payload 6 kg Maximum payload 12 kg Maximum reach 650 mm MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 41/199...

  • Page 42: Axis Data, Kr 12 R650 Z340 Cr

    Motion range Motion range, axis 1 ±145 ° Motion range, axis 2 ±135 ° Motion range, axis 3 -340 mm / 1 mm Motion range, axis 4 ±355 ° 42/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 43 T1 mode or via brake release button, then the robot can be operated normally. Working envelope The following diagrams show the shape and size of the working envelope. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 43/199...

  • Page 44: Payloads, Kr 12 R650 Z340 Cr

    Fig. 4-12: KR 12 R650 Z340 CR, working envelope, top view 4.3.3 Payloads, KR 12 R650 Z340 CR Payloads Rated payload 6 kg Maximum payload 12 kg Maximum supplementary load, arm 2 kg 44/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 45 • Check both values (payload and mass moment of inertia) in all ca- ses. • Use KUKA.Load to verify the mass moment of inertia. • Check if the additional data are entered according to the operating and programming instructions of the KUKA System Software.
  • Page 46 With the re- duced load center distances, higher loads up to the maximum payload may be used. The specific load case must be verified using KUKA.Load. For further consultation, please contact KUKA Support.
  • Page 47 The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually suffi- cient. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 47/199...
  • Page 48 The dimensions and the installa- tion position are specified in the following diagram. The maximum load must be noticed for mounting the supplementary load. 48/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 49: Foundation Loads, Kr 12 R650 Z340 Cr

    M(k normal) 650 Nm M(k max) 650 Nm M(r normal) 350 Nm M(r max) 580 Nm Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r) MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 49/199...

  • Page 50: Technical Data, Kr 12 R750 Z400

    ± 0.025 mm Pose repeatability Z ± 0.005 mm Pose repeatability R ± 0.005 ° Weight approx. 50 kg Rated payload 6 kg Maximum payload 12 kg Maximum reach 750 mm 50/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 51: Axis Data, Kr 12 R750 Z400

    Axis data, KR 12 R750 Z400 Axis data Motion range Motion range, axis 1 ±145 ° Motion range, axis 2 ±145 ° Motion range, axis 3 -400 mm / 1 mm MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 51/199...
  • Page 52 T1 mode or via brake release button, then the robot can be operated normally. Working envelope The following diagrams show the shape and size of the working envelope. 52/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 53: Payloads, Kr 12 R750 Z400

    Fig. 4-21: KR 12 R750 Z400, working envelope, top view 4.4.3 Payloads, KR 12 R750 Z400 Payloads Rated payload 6 kg Maximum payload 12 kg Maximum supplementary load, arm 2 kg MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 53/199...
  • Page 54 • Check both values (payload and mass moment of inertia) in all ca- ses. • Use KUKA.Load to verify the mass moment of inertia. • Check if the additional data are entered according to the operating and programming instructions of the KUKA System Software.
  • Page 55 With the reduced load center distances, higher loads up to the maximum payload may be used. The specific load case must be verified using KUKA.Load. For fur- ther consultation, please contact KUKA Support.
  • Page 56 The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually suffi- cient. 56/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 57 The dimensions and the installa- tion position are specified in the following diagram. The maximum load must be noticed for mounting the supplementary load. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 57/199...

  • Page 58: Foundation Loads, Kr 12 R750 Z400

    M(k normal) 650 Nm M(k max) 650 Nm M(r normal) 350 Nm M(r max) 580 Nm Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r) 58/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 59: Technical Data, Kr 12 R750 Z340 Cr

    ± 0.025 mm Pose repeatability Z ± 0.005 mm Pose repeatability R ± 0.005 ° Weight approx. 52 kg Rated payload 6 kg Maximum payload 12 kg Maximum reach 750 mm MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 59/199...

  • Page 60: Axis Data, Kr 12 R750 Z340 Cr

    Motion range Motion range, axis 1 ±145 ° Motion range, axis 2 ±145 ° Motion range, axis 3 -340 mm / 1 mm Motion range, axis 4 ±355 ° 60/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 61 T1 mode or via brake release button, then the robot can be operated normally. Working envelope The following diagrams show the shape and size of the working envelope. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 61/199...

  • Page 62: Payloads, Kr 12 R750 Z340 Cr

    Fig. 4-30: KR 12 R750 Z340 CR, working envelope, top view 4.5.3 Payloads, KR 12 R750 Z340 CR Payloads Rated payload 6 kg Maximum payload 12 kg Maximum supplementary load, arm 2 kg 62/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 63 • Check both values (payload and mass moment of inertia) in all ca- ses. • Use KUKA.Load to verify the mass moment of inertia. • Check if the additional data are entered according to the operating and programming instructions of the KUKA System Software.
  • Page 64 With the re- duced load center distances, higher loads up to the maximum payload may be used. The specific load case must be verified using KUKA.Load. For further consultation, please contact KUKA Support.
  • Page 65 The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually suffi- cient. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 65/199...
  • Page 66 The dimensions and the installa- tion position are specified in the following diagram. The maximum load must be noticed for mounting the supplementary load. 66/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 67: Foundation Loads, Kr 12 R750 Z340 Cr

    M(k normal) 650 Nm M(k max) 650 Nm M(r normal) 350 Nm M(r max) 580 Nm Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r) MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 67/199...

  • Page 68: Technical Data, Kr 12 R750 Z600

    ± 0.025 mm Pose repeatability Z ± 0.005 mm Pose repeatability R ± 0.005 ° Weight approx. 50.5 kg Rated payload 6 kg Maximum payload 12 kg Maximum reach 750 mm 68/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 69: Axis Data, Kr 12 R750 Z600

    Axis data, KR 12 R750 Z600 Axis data Motion range Motion range, axis 1 ±145 ° Motion range, axis 2 ±145 ° Motion range, axis 3 -600 mm / 1 mm MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 69/199...
  • Page 70 T1 mode or via brake release button, then the robot can be operated normally. Working envelope The following diagrams show the shape and size of the working envelope. 70/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 71 KR 12 SCARA Fig. 4-38: KR 12 R750 Z600, working envelope, side view Fig. 4-39: KR 12 R750 Z600, working envelope, top view MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 71/199...

  • Page 72: Payloads, Kr 12 R750 Z600

    • Check both values (payload and mass moment of inertia) in all ca- ses. • Use KUKA.Load to verify the mass moment of inertia. • Check if the additional data are entered according to the operating and programming instructions of the KUKA System Software.
  • Page 73 With the reduced load center distances, higher loads up to the maximum payload may be used. The specific load case must be verified using KUKA.Load. For fur- ther consultation, please contact KUKA Support.
  • Page 74 The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually suffi- cient. 74/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 75 The dimensions and the installa- tion position are specified in the following diagram. The maximum load must be noticed for mounting the supplementary load. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 75/199...

  • Page 76: Foundation Loads, Kr 12 R750 Z600

    M(k normal) 540 Nm M(k max) 580 Nm M(r normal) 300 Nm M(r max) 570 Nm Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r) 76/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 77: Technical Data, Kr 12 R850 Z400

    ± 0.025 mm Pose repeatability Z ± 0.005 mm Pose repeatability R ± 0.005 ° Weight approx. 51 kg Rated payload 6 kg Maximum payload 12 kg Maximum reach 850 mm MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 77/199...

  • Page 78: Axis Data, Kr 12 R850 Z400

    Axis data, KR 12 R850 Z400 Axis data Motion range Motion range, axis 1 ±145 ° Motion range, axis 2 ±145 ° Motion range, axis 3 -400 mm / 1 mm 78/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 79 T1 mode or via brake release button, then the robot can be operated normally. Working envelope The following diagrams show the shape and size of the working envelope. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 79/199...

  • Page 80: Payloads, Kr 12 R850 Z400

    Fig. 4-47: KR 12 R850 Z400, working envelope, side view Fig. 4-48: KR 12 R850 Z400, working envelope, top view 4.7.3 Payloads, KR 12 R850 Z400 Payloads Rated payload 6 kg Maximum payload 12 kg 80/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 81 • Check both values (payload and mass moment of inertia) in all ca- ses. • Use KUKA.Load to verify the mass moment of inertia. • Check if the additional data are entered according to the operating and programming instructions of the KUKA System Software.
  • Page 82 With the reduced load center distances, higher loads up to the maximum payload may be used. The specific load case must be verified using KUKA.Load. For fur- ther consultation, please contact KUKA Support.
  • Page 83 The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually suffi- cient. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 83/199...
  • Page 84 The dimensions and the installa- tion position are specified in the following diagram. The maximum load must be noticed for mounting the supplementary load. 84/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 85: Foundation Loads, Kr 12 R850 Z400

    M(k normal) 650 Nm M(k max) 650 Nm M(r normal) 350 Nm M(r max) 580 Nm Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r) MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 85/199...

  • Page 86: Technical Data, Kr 12 R850 Z340 Cr

    ± 0.025 mm Pose repeatability Z ± 0.005 mm Pose repeatability R ± 0.005 ° Weight approx. 53 kg Rated payload 6 kg Maximum payload 12 kg Maximum reach 850 mm 86/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 87: Axis Data, Kr 12 R850 Z340 Cr

    Motion range Motion range, axis 1 ±145 ° Motion range, axis 2 ±145 ° Motion range, axis 3 -340 mm / 1 mm Motion range, axis 4 ±355 ° MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 87/199...
  • Page 88 T1 mode or via brake release button, then the robot can be operated normally. Working envelope The following diagrams show the shape and size of the working envelope. 88/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 89: Payloads, Kr 12 R850 Z340 Cr

    Fig. 4-56: KR 12 R850 Z340 CR, working envelope, side view Fig. 4-57: KR 12 R850 Z340 CR, working envelope, top view 4.8.3 Payloads, KR 12 R850 Z340 CR Payloads Rated payload 6 kg Maximum payload 12 kg MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 89/199...
  • Page 90 • Check both values (payload and mass moment of inertia) in all ca- ses. • Use KUKA.Load to verify the mass moment of inertia. • Check if the additional data are entered according to the operating and programming instructions of the KUKA System Software.
  • Page 91 With the re- duced load center distances, higher loads up to the maximum payload may be used. The specific load case must be verified using KUKA.Load. For further consultation, please contact KUKA Support.
  • Page 92 The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually suffi- cient. 92/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 93 The dimensions and the installa- tion position are specified in the following diagram. The maximum load must be noticed for mounting the supplementary load. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 93/199...

  • Page 94: Foundation Loads, Kr 12 R850 Z340 Cr

    M(k normal) 650 Nm M(k max) 650 Nm M(r normal) 350 Nm M(r max) 580 Nm Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r) 94/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 95: Plates And Labels

    The following plates and labels (>>> Fig. 4-64) are attached to the manip- ulator. They must not be removed or rendered illegible. Illegible plates and labels must be replaced. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 95/199...
  • Page 96 KR 12 SCARA Fig. 4-64: Location of plates and labels 96/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 97 The specific content and data can be seen in the manufactur- er's plate. Danger arm Your hand or fingers may be caught between the spindle and the cover when bringing your hand close to moving parts. Risk of injury! MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 97/199...

  • Page 98: Item Description

    Council dated 18 December 2006 on the registration, evaluation and authorization of chemicals (REACH Regulation) is in force. Detailed REACH information can be found in the product information in KUKA Xpert. 98/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 99: Stopping Distances And Times

    • Extension l = 100% • Program override POV = 100% • Mass m = maximum payload Stopping distance 59.57 ° 83.63 ° 30.21 mm Stopping time 0.23 s 0.21 s MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 99/199...

  • Page 100: Stopping Distances And Stopping Times, Stop 1, A1

    KR 12 SCARA 0.06 s 4.11.2.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-65: Stopping distances for STOP 1, axis 1 100/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 101 KR 12 SCARA Fig. 4-66: Stopping times for STOP 1, axis 1 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 101/199...

  • Page 102: Stopping Distances And Stopping Times, Stop 1, A2

    KR 12 SCARA 4.11.2.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-67: Stopping distances for STOP 1, axis 2 102/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 103 KR 12 SCARA Fig. 4-68: Stopping times for STOP 1, axis 2 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 103/199...

  • Page 104: Stopping Distances And Stopping Times, Stop 1, A3

    0 (category 0 stop) is triggered. The values refer to the following configu- ration: • Extension l = 100% • Program override POV = 100% • Mass m = maximum payload Stopping distance 60.95 ° 84.92 ° 19.98 mm Stopping time 104/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 105: Stopping Distances And Stopping Times, Stop 1, A1

    KR 12 SCARA 0.23 s 0.22 s 0.06 s 4.11.3.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-71: Stopping distances for STOP 1, axis 1 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 105/199...
  • Page 106 KR 12 SCARA Fig. 4-72: Stopping times for STOP 1, axis 1 106/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 107: Stopping Distances And Stopping Times, Stop 1, A2

    KR 12 SCARA 4.11.3.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-73: Stopping distances for STOP 1, axis 2 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 107/199...
  • Page 108 KR 12 SCARA Fig. 4-74: Stopping times for STOP 1, axis 2 108/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 109: Stopping Distances And Stopping Times, Stop 1, A3

    0 (category 0 stop) is triggered. The values refer to the following configu- ration: • Extension l = 100% • Program override POV = 100% • Mass m = maximum payload Stopping distance 46.35 ° 40.60 ° 16.16 mm Stopping time MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 109/199...

  • Page 110: Stopping Distances And Stopping Times, Stop 1, A1

    KR 12 SCARA 0.24 s 0.12 s 0.03 s 4.11.4.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-77: Stopping distances for STOP 1, axis 1 110/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 111 KR 12 SCARA Fig. 4-78: Stopping times for STOP 1, axis 1 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 111/199...

  • Page 112: Stopping Distances And Stopping Times, Stop 1, A2

    KR 12 SCARA 4.11.4.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-79: Stopping distances for STOP 1, axis 2 112/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 113 KR 12 SCARA Fig. 4-80: Stopping times for STOP 1, axis 2 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 113/199...

  • Page 114: Stopping Distances And Stopping Times, Stop 1, A3

    0 (category 0 stop) is triggered. The values refer to the following configu- ration: • Extension l = 100% • Program override POV = 100% • Mass m = maximum payload Stopping distance 64.64 ° 74.50 ° 20.14 mm Stopping time 114/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 115 KR 12 SCARA 0.27 s 0.21 s 0.06 s MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 115/199...

  • Page 116: Stopping Distances And Stopping Times, Stop 1, A1

    KR 12 SCARA 4.11.5.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-83: Stopping distances for STOP 1, axis 1 116/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 117 KR 12 SCARA Fig. 4-84: Stopping times for STOP 1, axis 1 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 117/199...

  • Page 118: Stopping Distances And Stopping Times, Stop 1, A2

    KR 12 SCARA 4.11.5.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-85: Stopping distances for STOP 1, axis 2 118/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 119 KR 12 SCARA Fig. 4-86: Stopping times for STOP 1, axis 2 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 119/199...

  • Page 120: Stopping Distances And Stopping Times, Stop 1, A3

    0 (category 0 stop) is triggered. The values refer to the following configu- ration: • Extension l = 100% • Program override POV = 100% • Mass m = maximum payload Stopping distance 48.09 ° 55.41 ° 46.54 mm Stopping time 120/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 121: Stopping Distances And Stopping Times, Stop 1, A1

    KR 12 SCARA 0.21 s 0.15 s 0.06 s 4.11.6.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-89: Stopping distances for STOP 1, axis 1 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 121/199...
  • Page 122 KR 12 SCARA Fig. 4-90: Stopping times for STOP 1, axis 1 122/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 123: Stopping Distances And Stopping Times, Stop 1, A2

    KR 12 SCARA 4.11.6.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-91: Stopping distances for STOP 1, axis 2 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 123/199...
  • Page 124 KR 12 SCARA Fig. 4-92: Stopping times for STOP 1, axis 2 124/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 125: Stopping Distances And Stopping Times, Stop 1, A3

    0 (category 0 stop) is triggered. The values refer to the following configu- ration: • Extension l = 100% • Program override POV = 100% • Mass m = maximum payload Stopping distance 51.00 ° 44.38 ° 16.57 mm Stopping time MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 125/199...
  • Page 126 KR 12 SCARA 0.26 s 0.13 s 0.33 s 126/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 127: Stopping Distances And Stopping Times, Stop 1, A1

    KR 12 SCARA 4.11.7.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-95: Stopping distances for STOP 1, axis 1 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 127/199...
  • Page 128 KR 12 SCARA Fig. 4-96: Stopping times for STOP 1, axis 1 128/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 129: Stopping Distances And Stopping Times, Stop 1, A2

    KR 12 SCARA 4.11.7.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-97: Stopping distances for STOP 1, axis 2 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 129/199...
  • Page 130 KR 12 SCARA Fig. 4-98: Stopping times for STOP 1, axis 2 130/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 131: Stopping Distances And Stopping Times, Stop 1, A3

    0 (category 0 stop) is triggered. The values refer to the following configu- ration: • Extension l = 100% • Program override POV = 100% • Mass m = maximum payload Stopping distance 66.81 ° 61.58 ° 16.24 mm Stopping time MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 131/199...
  • Page 132 KR 12 SCARA 0.31 s 0.18 s 0.06 s 132/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 133: Stopping Distances And Stopping Times, Stop 1, A1

    KR 12 SCARA 4.11.8.2 Stopping distances and stopping times, STOP 1, A1 Fig. 4-101: Stopping distances for STOP 1, axis 1 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 133/199...
  • Page 134 KR 12 SCARA Fig. 4-102: Stopping times for STOP 1, axis 1 134/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 135: Stopping Distances And Stopping Times, Stop 1, A2

    KR 12 SCARA 4.11.8.3 Stopping distances and stopping times, STOP 1, A2 Fig. 4-103: Stopping distances for STOP 1, axis 2 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 135/199...
  • Page 136 KR 12 SCARA Fig. 4-104: Stopping times for STOP 1, axis 2 136/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 137: Stopping Distances And Stopping Times, Stop 1, A3

    KR 12 SCARA 4.11.8.4 Stopping distances and stopping times, STOP 1, A3 Fig. 4-105: Stopping distances for STOP 1, axis 3 Fig. 4-106: Stopping times for STOP 1, axis 3 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 137/199...
  • Page 138 KR 12 SCARA 138/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 139: Planning

    20 mm thick. The flatness of the mounting base must be no more than 0.4. The mounting base is not in the supply scope of the robot system. Hole pattern The following holes must be used for mounting the manipulator. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 139/199...

  • Page 140: Connecting Cables And Interfaces

    • Route the cables without mechanical stress – no tensile forces on the connectors. • Cables must be installed indoors. • The temperature range (fixed installation) must be from 263 K (-10 °C) to 343 K (+70 °C). 140/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 141: Interfaces

    Interface A1 is located at the rear of the base frame. Fig. 5-2: Interface A1 Item Description User connector I/O extension interface • 15 pin: D-sub socket User connector Ethernet extension interface • 8 pin: M12 socket MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 141/199...
  • Page 142 Air connection AIR1 To connect to the gas source in the factory. • ø 6 mm Interface A2 Interface A2 is located on the arm. Fig. 5-3: Interface A2 142/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 143: User Connectors

    • On: The manipulator is working • Off: The manipulator is not working 5.3.3 User connectors Description The following I/O extension connectors are supplied for users to do exten- sions. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 143/199...
  • Page 144 Fig. 5-4: User connectors on the base frame 15 pin D-sub socket connector Fig. 5-5: User connectors on the arm 15 pin D-sub socket connector Wiring diagram of user connectors Fig. 5-6: Wiring diagram, user connectors 144/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 145: Transportation

    The position of the center of gravity and the weight vary according to the specific configuration. The specific diagram (>>> Fig. 6-2) is applied for the following types of manipulators: MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 145/199...
  • Page 146 • KR 12 R750 Z600 • KR 12 R850 Z400 • KR 12 R850 Z340 CR Fig. 6-3: Transport dimensions for R750 and R850 manipulators Transport device (3x) Center of gravity 146/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 147: Transporting Via Fork Lift Truck

    The specific diagram (>>> Fig. 6-5) is applied for the following types of manipulators: • KR 12 R650 Z400 • KR 12 R650 Z340 CR MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 147/199...
  • Page 148 6-6) is applied for the following types of manipulators: • KR 12 R750 Z400 • KR 12 R750 Z340 CR • KR 12 R750 Z600 • KR 12 R850 Z400 • KR 12 R850 Z340 CR 148/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 149 5 to 45 Nm Precondition • The manipulator is in its transport position. • Any tools or equipment that impede the work must be removed from the system. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 149/199...
  • Page 150 = 45 Nm. 3. Attach the rope sling to swivel eyebolts. 4. Transport the manipulator with a crane. 5. Remove the transport devices from the manipulator after transporta- tion. 150/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 151 M5x25-12.9 screw (2x) Fig. 6-8: Installing/Removing transport devices and swivel eye- bolts for R750 and R850 manipulators M10 swivel eyebolt (3x) M6x25-12.9 screw (4x) Transport device (3x) M5x25-12.9 screw (2x) MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 151/199...
  • Page 152 KR 12 SCARA 152/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 153: Start-Up And Recommissioning

    • The manipulator is in its transport position. • The connecting cables and ground conductors are routed to the ma- nipulator and installed. • The installation site must be freely accessible with a crane. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 153/199...

  • Page 154: Installing The Mounting Base

    ‒ Correctly and horizontally install the mounting base. ‒ The angle of inclination must not exceed 5 °. 4. Insert 2 locating pins into the mounting base and check that they are fitted securely. 154/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 155: Installing The Manipulator

    7.2 "Description of the connecting cables" Page 156) 4. Check the equipotential bonding according to VDE 0100 and EN 60204-1. Further information can be found in the assembly instructions of the ro- bot controller. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 155/199...

  • Page 156: Concluding Work

    The tapped holes for con- necting the ground conductor are located on the base frame of the ma- nipulator. Standard connecting cable Fig. 7-2: Connecting cables, overview 156/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 157: Description Of The Motor Cable

    KR 12 SCARA 7.2.1 Description of the motor cable Fig. 7-3: Motor cable Fig. 7-4: Wiring diagram, motor cable, XD20.1/XD20.2 - X30 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 157/199...

  • Page 158: Description Of The Data Cable

    Fig. 7-7: Connecting cable, ground conductor Ground conductor Conical spring washer Hexagon nut Robot Conical spring washer Setscrew, M4 2x plain washer Ground conductor connection, M4 ring cable lug 158/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 159: Dimensions Of Connectors On The Controller Side

    When using the release button function, there will be error messages on the teach pendant, just acknowledge the messages via the teach pend- ant. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 159/199...

  • Page 160: Moving The Manipulator Without Drive Energy Via Brake Release Device

    5. Select the brakes of the axes to be released via the selection switch on the brake release device. 6. Press the button on the hand-held device. The brakes of the axes are released and the manipulator can be moved manually. 160/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 161 KR 12 SCARA Further information about the brake release device can be found in the documentation for the brake release device. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 161/199...
  • Page 162 KR 12 SCARA 162/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 163: Maintenance

    KUKA. Information about KUKA College and its training program can be found at college.kuka.com or can be obtained directly from our subsidiaries. In the case of support and repair services provided by KUKA, KUKA Serv- ice must be informed in advance about potential contamination or haz- ards.

  • Page 164: Maintenance Table

    Oil change Lubricate with grease gun Lubricate with brush Lubricate with spray grease Tighten screw/nut Check component, visual inspection Clean component Exchange battery Exchange component Check toothed belt tension 164/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 165 KUKA. 4,000 h or 1 Exchange toothed belts. year at the Note: This work must be done by the latest qualified personnel who are author- ized by KUKA. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 165/199...

  • Page 166: Greasing The Spindle

    Risk of burns due to high surface temperature During operation, the temperature of the manipulator surfaces can be high. Touching the manipulator can cause burns to skin. • Wear protective gloves. 166/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 167: Greasing The Spindle In The Upper Limit Position

    4. Activate the EMERGENCY STOP device. 5. Remove old grease from the spindle. 6. Use a brush to uniformly grease the spindle circumference with THK AFB-LF. 7. Release the EMERGENGCY STOP device. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 167/199...

  • Page 168: Greasing The Spindle In The Lower Limit Position

    6. Use a brush to uniformly grease the spindle circumference with THK AFB-LF. 7. Release the EMERGENCY STOP device. 8. Dispose of used grease and grease residues in accordance with the pertinent regulations. 168/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 169: Concluding Work

    The following equipment is required: Designation Article number Set of Allen keys 1.5; 2; 2.5; 3; 4; 5; 6; 8; 10 mm Torque wrench min. 0 to 20 Nm Brush Cleaning cloth MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 169/199...

  • Page 170: Greasing The Spindle In The Upper Limit Position

    4. Activate the EMERGENCY STOP device. 5. Unscrew 8 M4x8-8.8 screws on top of the spindle so that the bellow can be lowered. 6. Remove old grease from the spindle. 170/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 171: Greasing The Spindle In The Lower Limit Position

    5. Unscrew 8 M4x8-8.8 screws at bottom of the spindle so that the bel- low can be moved up. 6. Remove old grease from lower part of the spindle. 7. Use a brush to uniformly grease the spindle circumference with THK AFB-LF. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 171/199...

  • Page 172: Concluding Work

    • To spread the grease out evenly, move A3 / A4 of the robot. Greasing the cable set Description The following sections describe the procedure for greasing the cable set. Equipment The following equipment is required: 172/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 173: Greasing The Cable Set

    1. Unscrew 10 M4x12-8.8 Allen screws and remove the cable box cover from A1. 2. Unscrew 4 Pan head tapping screws ST3, 9x13 and remove cable protection ring from A1. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 173/199...

  • Page 174: Concluding Work

    • To spread the grease out evenly, move A1 and A2 of the robot. Oil change in A1 Description The following sections describe the procedure for exchanging oil in A1. 174/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 175 When the screws are first slackened they must be replaced with new ones. Precondition • The gear unit is at operating temperature. • A1 is in a horizontal position. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 175/199...

  • Page 176: Draining The Gear Oil From A1

    M4x12-8.8 Allen screws Cable box cover Magnetic screw plug 3. Unscrew 2 upper M10x1 magnetic screw plugs from the link arm for venting and catch the oil as it drains out. 176/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 177: Filling Gear Unit A1 With Gear Oil

    4. Pour in, from the lower filler hole, the same amount of oil as was drained, using a syringe. Mind that there may be oil leakage from the upper filler hole. Adjust the dip angle of the robot if necessary. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 177/199...

  • Page 178: Concluding Work

    More information about cleaning the system components, tools and the robot controller is contained in the respective operating manual. Equipment The following equipment is required: Designation Article number Permissible cleaning tools (e.g. cloths, brushes) 178/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 179: Cleaning

    The following concluding work must be done: • Remove cleaning agents and equipment from the workspace of the manipulator. • Dispose of cleaning agents according to the pertinent regulations. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 179/199...
  • Page 180 • Replace any damaged or illegible plates and covers. • Check removed protective and safety equipment for correct operation. • Only put fully functional robot system back into operation. 180/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 181: Repair

    Any repair work must be done by: • KUKA • Or the qualified personnel who are authorized by KUKA • Or the qualified organizations which are authorized by KUKA The related safety information in the "Safety" chapter must be obeyed before you do any repair work.
  • Page 182 KR 12 SCARA 182/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 183: Decommissioning, Storage And Disposal

    Removing the manipulator Procedure 1. Release and unplug all peripheral connections. 2. Release and unplug the motor cable and data cable connectors. 3. Release and unplug the ground conductor. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 183/199...

  • Page 184: Concluding Work

    6. Attach all covers to the manipulator and check that the seals are cor- rectly in place. 7. Seal off electrical connections with suitable covers. 8. Seal hose connections by suitable means. 184/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 185: Disposal

    Lubricating grease Opti- temp RB2 Up-to-date safety data sheets must be requested from the manufacturers of auxiliary and operating materials (>>> 12.2 "Auxiliary and operating ma- terials used" Page 192). MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 185/199...
  • Page 186 KR 12 SCARA 186/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 187: Options

    Fig. 11-1: Product overview Spindle M5x16-12.9-schwarz-KLF Hexagon socket head cap screw (2x) End flange Locating pin Dimensioned drawing The following illustration provides the necessary information on the end flange. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 187/199...
  • Page 188 11.1.1 "Starting up the end flange" Page 189) Maintenance If used for its intended purpose, the option requires minimal maintenance, i.e. visual inspections are recommended. In certain operating conditions, 188/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 189: Starting Up The End Flange

    When the screws are first slackened they must be replaced with new ones. Precondition • The robot controller is switched off. • The robot is freely accessible. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 189/199...

  • Page 190: Installing The End Flange

    8. Diagonally tighten the 2 M5 screws with the torque wrench (9 Nm). 11.1.1.2 Concluding work The following concluding work must be carried out: • Carry out a test run in T1 mode and look out for irregularities. 190/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 191: Appendix

    1.9 Nm 1.9 Nm 3.8 Nm 3.8 Nm Strength class Thread 10.9 DIN7984 Pan head screws 2.8 Nm Tighten M5 domed cap nuts with a torque of 4.2 Nm. MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 191/199...

  • Page 192: Auxiliary And Operating Materials Used

    To ensure safe use of our products, we recommend regularly requesting up-to-date safety data sheets from the manufacturers of auxiliary and operating materials. 12.3 Applied standards and regulations Name/Edition Definition 192/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 193 Safety of machinery: Safety-related parts of control systems - Part 2: Validation EN ISO 13850:2015 Safety of machinery: Emergency stop - Principles for design NFPA 79:2021 Electrical Standard for Industrial Machinery MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 193/199...
  • Page 194 KR 12 SCARA UL 1740:2018 Robots and Robotic Equipment 194/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 195: 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 13.2...
  • Page 196 KR 12 SCARA 196/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...

  • Page 197: Index

    Gear unit A1, filling with oil......177 General information........99 General safety measures....... 23 Danger zone..........9, 19 Ground conductor.........158 Data cable............ 158 Declaration of conformity....... 18 Declaration of incorporation.....17, 18 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 197/199...
  • Page 198 Mounting flange..37, 46, 55, 64, 73, 82, 91 Safety, general..........17 Mouse, external..........24 Service life............19 smartPAD........... 10, 19, 24 smartPAD-2.............10 Software............17 NFPA 79............193 Spindle, greasing......... 166, 169 198/199 | www.kuka.com MA KR 12 SCARA V3 | Issued: 23.02.2023...
  • Page 199 THK AFB-LF..........192 Tightening torques........191 Training.............7, 163 Transportation........25, 145 Transporting, lifting tackle......147 Turn-tilt table...........17 UL 1740:2018..........194 User............18, 20 Users..............7 Warnings............7 Workspace........... 8, 18, 21 MA KR 12 SCARA V3 | Issued: 23.02.2023 www.kuka.com | 199/199...

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