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Transcript of Kuka Pb Kr Agilus En
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ew. ast. recise.
KUKA Small Robots
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K U K A Y O U R S T R O N G P A R T N E R .
Quality made in Germany, creativity and the utmost com-
mitment to customers: at KUKA, this has been the basis
for decades of exceptional technology, helping you todecisive process optimization. We were the pioneers in
the world of robotics, and now we are global leaders in
innovation. Our passion is nding future-oriented solu-
tions to make even complex automation tasks simple.
Whatever you want to do and no matter the specic
tasks involved: you can implement it with KUKA. And
thanks to close cooperation with our experienced KUKA
system partners, that applies to every industry. We strive
to turn your ideas into reality. Use our edge to drive your
success.
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With the KR AGILUS series, KUKA is presenting a comprehensive small robot
family. The performance of the KR AGILUS series is unique in its payload
category. It sets standards with 6 axes, very high speeds, short cycle times,integrated energy supply system and that in every position: whether installed
on the floor, ceiling or wall, they master even unusual tasks. All KR AGILUS
models are operated uniformly with the service-proven KR C4, the universal
control technology for all KUKA robot models.
Unique in this class is the Safe Robot functionality, which radically simplies
the efcient cooperation of humans and machines. This enables totally new
automation concepts. KR AGILUS: Unparalleled functionality and reliability
made by KUKA.
The new masters of speed.KUKA small robots for
6 kg and 10 kg payloads.
Installation possible on
the floor, wall or ceiling.
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[+] LOW AITAC
[+]HIGH S
[+] WI RAG O OUTIG OSITIOS
[+]ITGRAT RG SUL SST
[+] OTIAL WORK LO
[+]TR RCISIO
[+]SRIC-RO KUKA COTROLLR
Product overview
The KR AGILUS series.
The future of small robots.
Robot KR AGILUS KR 6 R900 sixx
Controller KR C4 compact
Teach pendant KUKA smartA
The Small Robots from KUKA \ Advantages and functions4 \
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0 kg 2 kg 4 kg 6 kg 8 kg 10 kg 12 kg
1,100 mm
1,000 mm
900 mm
800 mm
700 mm
600 mm
500 mm
A
B
D
C
HIGH S. In handling tasks, especially pick-and-place tasks, KUKA small robots demonstrate one of
their greatest strengths: extreme speed. This produces impressive results with minimal cycle times.
RCISIO. Where high repeatability and exactitude are required, KUKA small robots are in their element.
They enable manufacturing quality at the highest level. Thanks to their robust design, they work with
constant precision throughout the work envelope.
ITGRAT RG SUL SST. or extremely streamlined contours, KUKA small robots have the
energy supply system routed internally, including therCAT/theret (bus cable), three 5/2-way valves
(compressed air), direct air line, and six inputs and two outputs. Simple gripper integration and fast
reaction especially for work in conned spaces.
WI RAG O OUTIG OSITIOS. Installation on the oor, wall or ceiling. The KUKA small robots
produce impressive results in every position thanks to the brakes integrated in all axes.
LOW AITAC. The motors and gear units of the KUKA small robots require no change of lubricant.
This makes them ideally suited to continuous, uninterrupted productivity.
OTIAL WORK LO. With reaches of up to 1,100 mm and the ability to reach points near to the
robot base as well as in the overhead area, the KR AGILUS offers an optimal work envelope. This enables
cost-effective, space-saving cell concepts.
KUKA KR C4 COTROLLR. The KUKA small robot family is operated just like its big brothers
using the same KUKA control technology.
KUKA small robots the strengths of a new generation
1 KR 6 R900 sixx (A).
In the coming months,
this will be followed
by further payload
variants (B, C, D) inthe Standard, ood,
Cleanroom and
Waterproof variants.
2 Completely integrated
energy supply system
in the robot arm.
21
ayload
Reach
5
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305 mm
C
81.4DE
25
F
+45
-190
-120
+156
80G
A
B
35
H
855
40
0
100.5
-170
+170
C
KR AGILUS
etails provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. o liability accepted for errors
or omissions.
1)Relative to intersection of axes 4/5.
Cycle time
KR 6 R900 sixx (25/305/25; 1 kg ayload) ore than 150 cycles/min
R 25 mm R 25 mm
Work envelope1) Dimensions A D ime ns ions B Dimensions C Di mensions D Dim ensions E D imensi ons F D imensi ons G Dimensions H
KR 6 R900 sixx 1,276 mm 1,620 mm 901.5 mm 656 mm 245.5 mm 851.5 mm 420 mm 455 mm
The Small Robots from KUKA \ Technical etai ls6 \
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IIU CCL TIS. The KR AGILUS robots are
consistently rated for particularly high working speeds.
At the same time, they offer high precision.
SAC-SAIG ITGRATIO. Low space requirements and
the choice between installation on the floor, ceiling or wall
makes the small robots extremely adaptable.
ITGRAT RG SUL SST. This is routed
internally in the KUKA small robots, thereby saving space. Itincludes therCAT/theret (bus cable), three 5/2-way valves
(compressed air), direct air line and inputs/outputs.
KR C4 ARCHITCTUR A UCTIOALITIS.
KUKA small robots are every bit as versatile as their
larger relatives. They are operated via the KR C4 compact
controller, with the same range of functions as the
service-proven KR C4 controller.
KUKA.SAORATIO. KUKA small robots set standards
in safety. Only they offer the KUKA.SafeOperation
functionality, which radically simplifies the efficient
cooperation of humans and machines.
Features and advantages
Controller
KR C4 compact
Teach pendant
KUKA smartA
Operating conditions
Ambient temperature, robot +5 C to +45 C
KR 6 R900 sixx
ax. reach 901 mmax. payload 6 kg
umber of axes 6
ounting position loor, ceiling, wall
ariant
Robot footprint 209 mm 207 mm
Weight (excluding controller), approx. 51 kg
Axis data /
Range of motion
Axis 1 (A1) +/-170
Axis 2 (A2) +45/-19
Axis 3 (A3) +156/-12
Axis 4 (A4) +/-185Axis 5 (A5) +/-120
Axis 6 (A6) +/-350
Protection rating
rotection rating, robot I 54
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An unbeatable team.
SAR AS A TAASTR AS A TA
99.99%
System controller: KR C4 compactSmall robots
TH SALL ROOT COTROL SST O TH UTUR.
With its compact dimensions and the powerful technology of
the service-proven KR C4, the KR C4 compact offers maximum
performance in minimum space. The revolutionary concept
provides a rm foundation for the automation of tomorrow.
Thats because only KUKA offers integrated safety functions as
standard, together with open interfaces which enable really
simple integration into the overall system. This signicantly
reduces the costs in automation for integration, maintenance
and servicing. At the same time, the long-term efciency and
exibility of the systems are increased. enet from the
openness you need to meet tomorrows requirements.
TRL AST, STRALI A ROUST:
TH KR AGILUS SALL ROOT AIL.Solve automation tasks
more exibly. inimize cycle times. Open up totally new
areas of application. The extensive KUKA small robot series is
100 percent KUKA: reliable quality and durability, combined
with maximum functional diversity and exibility. With the
fastest 6-axis robots and the KUKA.SafeOperation function,
this small robot family gives you a major competitive
advantage.
[+][+]
AAILAILIT. ROUST A
LOW O AITAC, THIS
UATAL TA WORKS
O-STO O OUR SUCCSS.
Product overview
The Small Robots from KUKA \ KUKA System Components8 \
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Function and technology packagesTeach pendant: KUKA smartPAD
TH SILST WA O ORATIG ROOTS.
Touch screen. Graphics support. lexible interaction.
With its large touch screen, the KUKA smartA allows
operation of both the robots and entire systems, which
can be represented on the screen. The display adapts to
show the user only those operator control elements that
are needed at any given moment. Attention is always
focused on what is important, so that users can work
more intuitively and thus more easily, quickly and
efciently.
A OTIALL RAR, ICIT SOTWAR SOLUTIO
OR R TASK.KUKA function and technology packages
breathe life into the KUKA robots. They enable them to
carry out particular industry-specic functions within
an automation solution. Handling, machining, measuring,
or function packages for conveyor synchronization or
vision-controlled part detection. KUKA function and
tech-nology packages make automation easy.
SILR AS A TA OR RSATIL AS A TA[+] [+]
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[+]
[+]
UIRSAL ALICATIO
RG-ICIT
ROUSTSS
[+]
[+]
SAC-SAIG
KR C4 compact
The small robot control system of the future
etails provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. o liability accepted for errors
or omissions.
[+] ALL-ROUR
COUICATIO TALT [+]
OR OWRUL, SAR, OR LIL, A OR ITLLIGT. The KR C4 compact offers the high performance and
reliability of the KR C4 technology in a compact design. Its exible conguration and the expansion capability that results
from this make it a real all-rounder. The number of hardware components, cables and connectors has been signicantly
reduced and replaced by software-based solutions. The robust, high-quality controller is designed for low maintenance;
the temperature-controlled fan technology only switches on briey when needed, and is barely audible.
The Small Robots from KUKA \ KUKA System Components10 \
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460 mm 483 mm
271mm
271mm
SAC-SAIG. The compact dimensions of the housing
enable space-saving installation in 19" enclosures or in small
protective housings. espite its compact size, the KR C4
compact offers the entire range of functions of the
KR C4 controller.
ALL-ROUR. Safety, Robot, Logic, otion androcessControl the KR C4 combines everything in a single
controller. And allows effortless control of the entire system.
UIRSAL ALICATIO. Thanks to its open architecture,
the KR C4 compact can control not only KUKA robots but
also external axes for maximum exibility, scalability,
performance and openness, in minimum space.
COUICATIO TALT. In addition to its own robot
language KRL, the KR C4 also understands the language
of the CC machining world (G-code) and the language
of LCs, enabling it to communicate directly with yourSIS or Rockwell controller, for example.
ROUSTSS. The consistent choice of durable components
and the well-designed cabinet ensure long-term, reliable
operation, even under extreme conditions.
RG-ICIT. The new energy management system
allows the energy consumption of the controller to be
reduced by up to 95% in standby mode. The improved cooling
concept, combined with a temperature-controlled fan,
further reduces the power dissipation of the controller,
while making operation considerably quieter.
Features and advantages KR C4 compact controller
Type KR C4 compact
rocessor ulti-core technology
Hard drive H, SS optional
Interface US, theret, I-I
ield buses ROIT, theret/I, ROIUS, eviceet, therCAT
ax. number of axes 6 + 6 (with additional axis box)
rotection rating I 20
imensions ( x W x H) 460 mm x 483 mm x 271 mm
Weight 33 kg
Power supply connection
Rated supply voltage 1 x 208 to 230 AC
ermissible tolerance of rated voltage -10 to +10 %
ains frequency 49 to 61 Hz
ains-side fusing 1 x 16 A slow-blowing
Operating conditions
Ambient temperature +5 C to +45 C
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etails provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. o liability accepted for errors
or omissions.
KUKA smartA
KUKA smartPAD Making robot operation really easy
TOUCH SCR. GRAHICS SUORT. LIL ITRACTIO. The more diverse the robot s abilities become, the greater
the importance of intuitive user interfaces for their operation. The new KUKA smartA brilliantly demonstrates, on a
large antireflection touch screen, just how simple it can be. Intelligent, interactive dialogs provide the user with those
operator control elements that are currently required. This makes work easier, faster, more ef ficient and simply smarter
all-round.
[+]
[+]
[+]
[+]
[+]
[+]
HOT-LUGGAL
HATIC OG KS
RGOOICALL OTII
ATIRLCTIO TOUCH ISLA
UIRSAL ALICATIO
ITGRAT US COCTIO
The Small Robots from KUKA \ KUKA System Components12 \
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UIRSAL ALICATIO. Operate all KUKA robots and
KR C4 controllers with the KUKA smartA.
ATIRLCTIO TOUCH ISLA. Simple operation via the
well-lit 8.4" screen with an intuitive user interface.
RGOOICALL OTII. esigned to be user-friendly.High mobility and work that is non-tiring due to the low
weight of just 1,100 grams.
HOT-LUGGAL. If the KUKA smartA is not being used, it
can be simply unplugged during ongoing operation and used
for any other KR C4 controller.
ITGRAT US COCTIO. irect saving and loading
of congurations via US port on the KUKA smartA itself.
HATIC OG KS. The combination of haptic jog keys and a
haptically controlled mouse enables intuitive maneuveringwith constant visual contact with the robot.
2
1
1 Simple, intuiti-
ve operator control
via touch screen
2 rgonomic 6 mouse
Features and advantages KUKA smartPAD teach pendant
Type KUKA smartA
isplay scratch-resistant industrial touch display
isplay size 8.4"
imensions ( x W x H) 80 mm x 330 mm x 260 mm
Weight 1,100 g
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KUKA function and technology packages
KUKA function and technology packages help you to solve specic automation tasks efciently. And with a minimum of
programming. Thats because the portfolio of KUKA sof tware solutions covers nearly all the common areas of application.
On the basis of these packages, our KUKA system partners implement tailored solutions to meet every customer requirement.
Function and technology packages for the KR C4 compact
etails provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. o liability accepted for errors
or omissions.
KUKA function and technology packages
KUKA.WorkVisual
KUKA.Load
KUKA.UserTech
KUKA.ExpertTech
KUKA.HMI Zenon
KUKA.RemoteView
KUKA.VirtualRemotePendant
KUKA.RobotSensorInterface
KUKA.VisionTech
KUKA.ConveyorTech
KUKA.ForceTorqueControl
KUKA.SafeOperation
KUKA.SafeRangeMonitoring
ngineering environment for all KUKA robots for system configuration, programming, data backup,
diagnosis, and more.
Supports the evaluation of the load on a KUKA robot or the selection of a suitable robot for a given load.
ast programming of motion and program sequences using freely denable buttons, input masks and para-
meter lists.
aster, simpler programming even for non-experts in KRL code via menu-guided command selection.
Creation of customized, application-specic user interfaces for visualization and operator control without
programming knowledge. isplay and operation using the touch panel and keys of the KUKA smartA.
Allows remote access to the robot via a secure Internet connection, thereby offering the possibility of remote
diagnosis or start-up support.
Allows the use of theret communication to run the user interface of the KUKA smartA on an
external C and to operate the robot.
Supports simple and flexible interfacing with sensors in the KR C4. It is also possible to integrate a
number of channels with hard real-time requirements.
onoard vision system including image processing, camera and sensors. xtensive configuration
options enable the flexible use of the robot in an unstructured environment.
Organizes the cooperation of robots and conveyors. Allows efficient, dynamic handling of parts, even for
complex applications.
Takes account of process forces and torques exerted on the workpiece during machining, and controls
and adjusts these as specified in the program sequence. In applications such as grinding, polishing,
bending or even assembly, this technology package is an indispensable help.
lexible programming of safe cooperation between humans and machines. enition of safe workspaces,
velocities, envelopes around robot tools, and cooperation with the operator.
eginners tool for limiting and monitoring the safety and work areas of the robot. The monitoring and limita-
tion of statically dened axis ranges creates an adequate degree of work safety for many applications.
The Small Robots from KUKA \ KUKA System Components14 \
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KUKA function and technology packages
KUKA.Gripper & SpotTech
KUKA.RoboTeam
KUKA.EtherNet KRL
KUKA.OPC-Server
KUKA.PLC Multiprog
KUKA.PLC ProConOS
KUKA.PLC mxA
KUKA.CNC
KUKA.Sim
rogramming of grippers and weld guns via easy-to-use inline forms for many industrial applications.
Coordinates and enables the high-precision interaction of a team of robots for handling a shared load or
for working together on a moving workpiece.
akes it possible to exchange data with external computers via the theret interface. The robot can
function here both as a client and as a server.
asic technology for standardized data exchange between robots and external controllers for non-real-time
information streams. Ideal for interfacing with external visualization and S systems.
rogramming environment for an extremely fast Soft LC conforming to the IC61131 standard. xpands the
functionality of the KR C4 and offers virtually unlimited openness in the programming of automation cells and
applications.
Runtime system of the KUKA.LC ultiprog Soft LC. LC programs created with KUKA.ultiprog are run direct-
ly on the KR C4, with full access to the entire I/O system of the robot. Reading and processing of variables such
as axis positions and velocity via function blocks.
Allows direct commanding and positioning of the robot by external controllers (SIS, Rockwell,
etc.). The user thus requires no knowledge of robot programming in the KUKA-specific robot language
KRL.
Complete software-based CC implementation for execution of machine tool code (G-code) directly on
the robot controller. This turns the robot, with its accuracy and stiffness, into a machining center for
path-supported processes.
The simulation programs of KUKA.Sim allow robotic cells to be planned with true-to-life accuracy.
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etails provided about the properties and usabilityof the products are purely for information purposes
and do not constitute a guarantee of these
characteristics. The extent of goods delivered is
determined by the subject matter of the specic
contract. o liability accepted for errors or omissions.
KUKA Roboter GmbH
Hery-ark
8668 Gersthofen
Germany
hone: +49 8 -0
ax: +49 8 -66
www.kuka-robotics.com
PB0001/E/1/051
2
www.zeroseven.de