KR QUANTEC extra - KUKA Robotics

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KR QUANTEC extra © Copyright 2012 KUKA Roboter GmbH Zugspitzstraße 140 D-86165 Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter 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. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition. Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC Publication: Pub Spez KR QUANTEC extra (PDF) en Bookstructure: Spez KR QUANTEC extra V4.1 Version: Spez KR QUANTEC extra V4 en (PDF) 2 / 127 Issued: 29.11.2012 Version: Spez KR QUANTEC extra V4 en (PDF)
Contents Issued: 29.11.2012 Version: Spez KR QUANTEC extra V4 en (PDF) Contents 1 Introduction .................................................................................................. 7 1.1 Industrial robot documentation ................................................................................... 7 1.2 Representation of warnings and notes ...................................................................... 7 2 Purpose ........................................................................................................ 9 2.1 Target group .............................................................................................................. 9 2.2 Intended use .............................................................................................................. 9 3 Product description ..................................................................................... 11 3.1 Overview of the robot system .................................................................................... 11 3.2 Description of the manipulator ................................................................................... 11 4 Technical data .............................................................................................. 15 4.1 Basic data .................................................................................................................. 15 4.2 Axis data .................................................................................................................... 17 4.3 Payloads .................................................................................................................... 27 4.4 Loads acting on the mounting base ........................................................................... 36 4.5 Transport dimensions ................................................................................................ 37 4.6 Plates and labels ........................................................................................................ 38 4.7 Stopping distances and times .................................................................................... 40 4.7.1 General information .............................................................................................. 40 4.7.2 Terms used ........................................................................................................... 40 4.7.3 Stopping distances and times, KR 210 R2700 extra ............................................ 41 4.7.3.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 41 4.7.3.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 42 4.7.3.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 44 4.7.3.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 46 4.7.4 Stopping distances and times, KR 180 R2500 extra ............................................ 46 4.7.4.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 46 4.7.4.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 47 4.7.4.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 49 4.7.4.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 51 4.7.5 Stopping distances and times, KR 180 R2500 extra C ......................................... 51 4.7.5.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 51 4.7.5.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 52 4.7.5.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 54 4.7.5.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 56 4.7.6 Stopping distances and times, KR 150 R2700 extra ............................................ 56 4.7.6.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 56 4.7.6.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 57 4.7.6.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 59 4.7.6.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 61 4.7.7 Stopping distances and times, KR 150 R2700 extra C ......................................... 61 4.7.7.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 61 4.7.7.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 62 4.7.7.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 64 4.7.7.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 66 4.7.8 Stopping distances and times, KR 120 R2900 extra ............................................ 66 3 / 127
Page 1: Robots KR QUANTEC extra With F and
Page 5 and 6: Issued: 29.11.2012 Version: Spez KR
Page 7 and 8: 1 Introduction 1.1 Industrial robot
Page 9 and 10: 2 Purpose 2.1 Target group 2.2 Inte
Page 11 and 12: 3 Product description 3.1 Overview
Page 13 and 14: Issued: 29.11.2012 Version: Spez KR
Page 15 and 16: 4 Technical data 4.1 Basic data Bas
Page 17 and 18: 4.2 Axis data Axis data, KR 210 R27
Page 19 and 20: Fig. 4-1: Working envelope, KR 210
Page 27 and 28: 4.3 Payloads Fig. 4-9: Working enve
Page 29 and 30: Payloads, KR 90 R2900 extra Load ce
Page 31 and 32: Fig. 4-11: Payload diagram Issued:
Page 33 and 34: Fig. 4-13: Payload diagram Issued:
Page 35 and 36: Mounting flange, adapter (optional)
Page 37 and 38: 4.5 Transport dimensions Issued: 29
Page 39 and 40: Fig. 4-20: Plates and labels Issued
Page 41 and 42: Fig. 4-21: Extension 4.7.3 Stopping
Page 43 and 44: Fig. 4-23: Stopping times for STOP
Page 45 and 46: Fig. 4-25: Stopping times for STOP
Page 47 and 48: 4.7.4.2 Stopping distances and stop
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Fig. 4-35: Stopping times for STOP
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4.7.6.2 Stopping distances and stop
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4.7.10.2 Stopping distances and sto
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5 Safety 5.1 General 5.1.1 Liabilit
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5.1.4 Terms used Issued: 29.11.2012
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Tasks Operator Programmer Switch ro
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Issued: 29.11.2012 Version: Spez KR
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5.5 Safety measures 5.5.1 General s
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Name Definition Edition EN 614-1 Sa
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6 Planning 6.1 Mounting base with c
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6.2 Machine frame mounting Issued:
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Interface for energy supply systems
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7 Transportation 7.1 Transporting t
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Fig. 7-4: Transportation using lift
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8 Options 8.1 Mounting flange, adap
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9 KUKA Service 9.1 Requesting suppo
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France KUKA Automatisme + Robotique
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Poland KUKA Roboter Austria GmbH Sp
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Hungary KUKA Robotics Hungaria Kft.
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Index Numbers 2004/108/EC 100 2006/
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Working range limitation 92 Working
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KR QUANTEC extra - KUKA Robotics

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