KR QUANTEC ultra - KUKA Robotics

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KR QUANTEC ultra 4.7 Stopping distances and times 4.7.1 General information 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. 4.7.2 Terms used Term m Phi POV Extension KCP Description Mass of the rated load and the supplementary load on the arm. Angle of rotation (°) about the corresponding axis. This value can be entered in the controller via the KCP and is displayed on the KCP. Program override (%) = velocity of the robot motion. This value can be entered in the controller via the KCP and is displayed on the KCP. Distance (l in %) (>>> Fig. 4-18 ) 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. The KCP teach pendant has all the operator control and display functions required for operating and programming the robot system. 36 / 115 Issued: 23.07.2013 Version: Spez KR QUANTEC ultra V8 en (PDF)
4 Technical data Fig. 4-18: Extension 4.7.3 Stopping distances and times, KR 300 R2500 ultra 4.7.3.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 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 (°) Axis 1 47.63 0.93 Axis 2 34.47 0.625 Axis 3 29.21 0.475 Stopping time (s) Issued: 23.07.2013 Version: Spez KR QUANTEC ultra V8 en (PDF) 37 / 115
Page 1 and 2: Robots KUKA Roboter GmbH KR QUANTEC
Page 3 and 4: Contents Contents 1 Introduction ..
Page 5 and 6: Contents 8.3 Release device (option
Page 7 and 8: 1 Introduction 1 Introduction 1.1 I
Page 9 and 10: 2 Purpose 2 Purpose 2.1 Target grou
Page 11 and 12: 3 Product description 3 Product des
Page 13 and 14: 3 Product description Link arm Rota
Page 15 and 16: 4 Technical data 4 Technical data 4
Page 17 and 18: 4 Technical data Cable lengths Stan
Page 19 and 20: 4 Technical data Fig. 4-1: Working
Page 27 and 28: 4 Technical data Rated payload 300
Page 29 and 30: 4 Technical data Fig. 4-10: Payload
Page 31 and 32: 4 Technical data Fig. 4-12: Payload
Page 33 and 34: 4 Technical data Fig. 4-15: Loads a
Page 35: 4 Technical data Fig. 4-17: Plates
Page 39 and 40: 4 Technical data Fig. 4-20: Stoppin
Page 43 and 44: 4 Technical data 4.7.4.2 Stopping d
Page 73 and 74: 4 Technical data 4.7.10.2 Stopping
Page 79 and 80: 5 Safety 5 Safety 5.1 General •Th
Page 81 and 82: 5 Safety has been incorporated into
Page 83 and 84: 5 Safety Example The tasks can be d
Page 85 and 86: 5 Safety In the case of manipulator
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5 Safety The operator must ensure t
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5 Safety 5.5.4 Manual mode Manual m
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5 Safety life-threatening injuries,
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6 Planning 6 Planning 6.1 Mounting
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6 Planning 6.2 Machine frame mounti
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6 Planning • The bending radius f
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7 Transportation 7 Transportation 7
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7 Transportation The robot may tip
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8 Options 8 Options 8.1 Working ran
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9 KUKA Service 9 KUKA Service 9.1 R
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9 KUKA Service France KUKA Automati
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9 KUKA Service Poland KUKA Roboter
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9 KUKA Service Hungary KUKA Robotic
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Index Index Numbers 2004/108/EC 91
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KR QUANTEC ultra Issued: 23.07.2013
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