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Manuals
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Kuka Manuals
Robotics
KR 16-2
Operating instructions manual
Kuka KR 16-2 Operating Instructions Manual
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Contents
Table of Contents
Bookmarks
Table of Contents
Table of Contents
1 Introduction
Robot Documentation
Representation of Warnings and Notes
2 Purpose
Intended Use
Target Group
3 Product Description
General
Wrist
Arm
Wrist Axis Motor Units A4 to A6
Link Arm
Main Axis Motor Units A1 to A3
Rotating Column
Base Frame
Working Range Limitation for A1 to A3
Energy Supply System
4 Technical Data
General
Principal Data
5 Safety
Representation of Warnings and Notes
General
Liability
Intended Use of the Industrial Robot
EC Declaration of Conformity and Declaration of Incorporation
Terms Used
Personnel
Workspace, Safety Zone and Danger Zone
Overview of Protective Equipment
Mechanical End Stops
Mechanical Axis Range Limitation (Optional)
Axis Range Monitoring (Optional)
Options for Moving the Manipulator Without Drive Energy
Labeling on the Industrial Robot
Safety Measures
General Safety Regulations
Transportation
Start--Up and Recommissioning
Manual Mode
Automatic Mode
Maintenance and Repair
Decommissioning, Storage and Disposal
Applied Norms and Regulations
6 Transportation
General
Floor--Mounted Manipulators
Ceiling--Mounted Manipulators
Wall--Mounted Manipulators
7 Installation, Connection, Exchange
General
Information for Planning
Principal Loads
Mounting Variants
Variant 1: Mounting Base with Centering (Resin Capsule)
Variant 1, Mounting Base with Centering (Resin Cartridge)
Variant 2: Machine Frame Mounting with Centering
Installation
Floor--Mounted Manipulators
Ceiling--Mounted Manipulators
Wall--Mounted Manipulators
Installing Wall--Mounted Manipulators in the 0° Position
Installing Wall--Mounted Manipulators in the 90° Position
Exchange
Exchanging Floor--Mounted Robots
Exchanging Ceiling--Mounted Robots
Exchanging Wall--Mounted Robots
Unbraked Impact against Limit Stops
Moving the Manipulator Without Drive Energy
8 Electrical Installations
Description
Cabling Plans and Wiring Diagrams
9 Connecting Cables
Description
Routing of Cables
Junction Boxes on the Manipulator
Coding
Connector Panel on the Control Cabinet
Configuration of the Connecting Cables
Wiring Diagrams
10 Maintenance Work
General
Lubrication Work
Changing the Oil on Main Axis Gear Units
10.3.1 Changing the Oil on Axis 1 Gear Unit
10.3.2 Changing the Oil on Axis 2 Gear Unit
10.3.3 Changing the Oil on Axis 3 Gear Unit
Other Maintenance
Lubrication, In--Line Wrist IW 6 II
10.5.1 Oil Change
Other Maintenance
Lubrication, In--Line Wrist IW 16
Oil Change on In--Line Wrist IW 16
Cleaning and Preventive Maintenance
Safety Precautions When Handling Lubricants
11 Adjustment
General
Measuring and Adjusting the Toothed Belt Tension on Wrist Axis Motor Units A4 and A5 (Motor Side)
Measuring and Adjusting Toothed Belt Tension on Wrist Axis Motor Units A5 and A6 (In--Line Wrist IW 6 Ll)
12 Repair
General
Bonding Instructions
Unbraked Impact against Limit Stops
In--Line Wrist IW 6 II, Repair
12.4.1 Removal, Installation of In- -Line Wrist
12.4.2 Removal, Installation of Toothed Belts A5 and A6
In--Line Wrist IW 16, Repair
12.5.1 Removal, Installation of In- -Line Wrist
Removal, Installation of Main Axis Motor Unit A1
Removal, Installation of Main Axis Motor Unit A2
Removal, Installation of Main Axis Motor Unit A3
Removal, Installation of Wrist Axis Motor Units A4 to A6
12.10 Removal, Installation of Toothed Belts
12.11 Tightening Torques
13 Consumables, Safety Data Sheets
Safety Data Sheet for Optitemp RB1 Cable Grease
Safety Data Sheet for Optimol Olit CLS Lubricating Grease
Safety Data Sheet for Optigear Synthetic RO 150 Oil
Safety Data Sheet for Microlube GL 261 Lubricant
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ROBOT
KR 6- -2; KR 16- -2
with KR C4
Operating Instructions
Issued: 19 Feb 2015
Version: 07
BA KR 6, 16 F, KR C4 12.10.07 en
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