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Transcript of KR 5 arc - image. 5.5.4 Manual mode ..... 41 Contents. 4 / 175 Issued: 23.05.2014 Version: BA KR

  • Robots

    KR 5 arc

    Operating Instructions

    KUKA Roboter GmbH

    Issued: 23.05.2014

    Version: BA KR 5 arc V4

  • KR 5 arc

    2 / 175 Issued: 23.05.2014 Version: BA KR 5 arc V4

    Copyright 2014

    KUKA Roboter GmbHZugspitzstrae 140D-86165 AugsburgGermany

    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, how-ever, 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 BA KR 5 arc (PDF) enBook structure: BA KR 5 arc V5.2Version: BA KR 5 arc V4

  • Contents

    Contents

    1 Introduction .................................................................................................. 7

    1.1 Industrial robot documentation ................................................................................... 71.2 Representation of warnings and notes ...................................................................... 7

    2 Purpose ........................................................................................................ 9

    2.1 Target group .............................................................................................................. 92.2 Intended use .............................................................................................................. 9

    3 Product description ..................................................................................... 11

    3.1 Overview of the robot system .................................................................................... 113.2 Description of the robot .............................................................................................. 11

    4 Technical data .............................................................................................. 15

    4.1 Basic data .................................................................................................................. 154.2 Axis data .................................................................................................................... 164.3 Payloads .................................................................................................................... 174.4 Loads acting on the mounting base ........................................................................... 194.5 Plates and labels ........................................................................................................ 204.6 Stopping distances and times, floor-mounted robots, KR 5 arc ................................. 214.6.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 214.6.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 234.6.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 254.6.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 274.7 Stopping distances and times, KR 5 arc-C ................................................................ 274.7.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 274.7.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 284.7.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 304.7.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 32

    5 Safety ............................................................................................................ 33

    5.1 General ...................................................................................................................... 335.1.1 Liability .................................................................................................................. 335.1.2 Intended use of the industrial robot ...................................................................... 345.1.3 EC declaration of conformity and declaration of incorporation ............................. 345.1.4 Terms used ........................................................................................................... 355.2 Personnel ................................................................................................................... 355.3 Workspace, safety zone and danger zone ................................................................. 365.4 Overview of protective equipment .............................................................................. 375.4.1 Mechanical end stops ........................................................................................... 375.4.2 Mechanical axis range limitation (optional) ........................................................... 375.4.3 Axis range monitoring (optional) ........................................................................... 375.4.4 Options for moving the manipulator without drive energy ..................................... 385.4.5 Labeling on the industrial robot ............................................................................. 385.5 Safety measures ........................................................................................................ 395.5.1 General safety measures ...................................................................................... 395.5.2 Transportation ....................................................................................................... 405.5.3 Start-up and recommissioning .............................................................................. 405.5.4 Manual mode ........................................................................................................ 41

    3 / 175Issued: 23.05.2014 Version: BA KR 5 arc V4

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    KR 5 arc

    5.5.5 Automatic mode ................................................................................................... 425.5.6 Maintenance and repair ........................................................................................ 425.5.7 Decommissioning, storage and disposal .............................................................. 445.6 Applied norms and regulations .................................................................................. 44

    6 Planning ........................................................................................................ 47

    6.1 Information for planning ............................................................................................. 476.2 Mounting base with centering .................................................................................... 476.3 Machine frame mounting with centering .................................................................... 506.4 Adapter plate ............................................................................................................. 526.5 Connecting cables and interfaces ............................................................................. 52

    7 Transportation ............................................................................................. 55

    7.1 Transporting the robot ............................................................................................... 55

    8 Start-up and recommissioning ................................................................... 59

    8.1 Installation of the mounting base ............................................................................... 598.2 Installation of the machine frame mounting assembly ............................................... 608.3 Installing the adapter plate ........................................................................................ 618.4 Installing a floor-mounted robot ................................................................................. 628.5 Installing a ceiling-mounted robot .............................................................................. 638.6 Description of the connecting cables for KR C2 ........................................................ 658.7 Description of the connecting cables for KR C4 ........................................................ 798.8 Connecting the connecting cables ............................................................................. 828.9 Moving the manipulator without drive energy ............................................................ 83

    9 Maintenance ................................................................................................. 85

    9.1 Maintenance symbols ................................................................................................ 859.2 Maintenance table ..................................................................................................... 859.3 Measuring and adjusting the toothed belt tension on A4, A5 .................................... 889.4 Measuring and adjusting the toothed belt tension for the in-line wrist, A5, A6 .......... 909.5 Changing the gear oil on axis 1, floor-mounted robot ................................................ 929.5.1 Draining the gear oil on axis 1, floor-mounted robot ............................................. 929.5.2 Filling