KR QUANTEC prime - KUKA Roboter

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KR QUANTEC prime 4.7 Stopping distances and times 4.7.1 General information 4.7.2 Terms used Information concerning the data: The stopping distance is the angle traveled by the robot from the moment the stop signal is triggered until the robot comes to a complete standstill. The stopping time is the time that elapses from the moment the stop signal is triggered until the robot comes to a complete standstill. The data are given for the main axes A1, A2 and A3. The main axes are the axes with the greatest deflection. Superposed axis motions can result in longer stopping distances. 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 The values specified for Stop 0 are guide values determined by means of tests and simulation. They are average values which conform to the requirements of DIN EN ISO 10218-1. The actual stopping distances and stopping times may differ due to internal and external influences on the braking torque. It is therefore advisable to determine the exact stopping distances and stopping times where necessary under the real conditions of the actual robot application. Measuring technique The stopping distances were measured using the robot-internal measuring technique. The wear on the brakes varies depending on the operating mode, robot application and the number of STOP 0 triggered. It is therefore advisable to check the stopping distance at least once a year. Term Description m Mass of the rated load and the supplementary load on the arm. Phi Angle of rotation (°) about the corresponding axis. This value can be entered in the controller via the KCP and is displayed on the KCP. POV Program override (%) = velocity of the robot motion. This value can be entered in the controller via the KCP and is displayed on the KCP. Extension Distance (l in %) (>>> Fig. 4-19 ) between axis 1 and the intersection of axes 4 and 5. With parallelogram robots, the distance between axis 1 and the intersection of axis 6 and the mounting flange. KCP The KCP teach pendant has all the operator control and display functions required for operating and programming the robot system. 36 / 107 Issued: 29.11.2012 Version: Spez KR QUANTEC prime V6 en (PDF)
Fig. 4-19: Extension 4.7.3 Stopping distances and stopping times for KR 240 R2500 prime 4.7.3.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 Issued: 29.11.2012 Version: Spez KR QUANTEC prime V6 en (PDF) 4 Technical data The table shows the stopping distances and stopping times after a STOP 0 (category 0 stop) is triggered. The values refer to the following configuration: Extension l = 100% Program override POV = 100% Mass m = maximum load (rated load + supplementary load on arm) Stopping distance (°) Stopping time (s) Axis 1 61.78 0.989 Axis 2 63.89 1.102 Axis 3 56.66 0.738 37 / 107
Page 1 and 2: Robots KR QUANTEC prime With F and
Page 3 and 4: Contents Issued: 29.11.2012 Version
Page 5 and 6: 1 Introduction 1.1 Industrial robot
Page 7 and 8: 2 Purpose 2.1 Target group 2.2 Inte
Page 9 and 10: 3 Product description 3.1 Overview
Page 11 and 12: Issued: 29.11.2012 Version: Spez KR
Page 13 and 14: 4 Technical data 4.1 Basic data Bas
Page 15 and 16: 4.2 Axis data Axis data, KR 240 R25
Page 17 and 18: Fig. 4-1: Working envelope, KR 240
Page 23 and 24: Payloads, KR 240 R2700 prime Payloa
Page 25 and 26: Fig. 4-7: Payload diagram Issued: 2
Page 27 and 28: Fig. 4-9: Payload diagram Issued: 2
Page 29 and 30: Mounting flange D=125 mm Fig. 4-11:
Page 31 and 32: Mounting flange, adapter (optional)
Page 33 and 34: Fig. 4-16: Loads acting on the moun
Page 35: Fig. 4-18: Plates and labels Issued
Page 39 and 40: Fig. 4-21: Stopping times for STOP
Page 43 and 44: 4.7.4.2 Stopping distances and stop
Page 69 and 70: 5 Safety 5.1 General 5.1.1 Liabilit
Page 71 and 72: 5.1.4 Terms used Issued: 29.11.2012
Page 73 and 74: Tasks Operator Programmer Switch ro
Page 77 and 78: 5.5 Safety measures 5.5.1 General s
Page 83 and 84: Name Definition Edition EN 614-1 Sa
Page 85 and 86: 6 Planning 6.1 Mounting base with c
Page 87 and 88:
6.2 Machine frame mounting Issued:
Page 89 and 90:
Interface for energy supply systems
Page 91 and 92:
7 Transportation 7.1 Transporting t
Page 93 and 94:
Fig. 7-4: Transportation using lift
Page 95 and 96:
8 Options 8.1 Mounting flange, adap
Page 97 and 98:
9 KUKA Service 9.1 Requesting suppo
Page 99 and 100:
France KUKA Automatisme + Robotique
Page 101 and 102:
Poland KUKA Roboter Austria GmbH Sp
Page 103 and 104:
Hungary KUKA Robotics Hungaria Kft.
Page 105 and 106:
Index Numbers 2004/108/EC 82 2006/4
Page 107:
Issued: 29.11.2012 Version: Spez KR
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KR QUANTEC prime - KUKA Roboter

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