Specification KR CYBERTECH-2 Robots...4.8.7 Stopping distances and times, KR 20 R1810-2 66 4.8.7.1...

RobotsKR CYBERTECH-2Specification

Issued: 06.05.2019Spez KR CYBERTECH-2 V4KUKA Deutschland GmbH

KR CYBERTECH-2

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© Copyright 2019KUKA Deutschland GmbHZugspitzstraße 140D-86165 AugsburgGermany

This documentation or excerpts therefrom may not be reproduced or disclosed to third partieswithout the express permission of KUKA Deutschland GmbH.Other functions not described in this documentation may be operable in the controller. The userhas 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 soft-ware described. Nevertheless, discrepancies cannot be precluded, for which reason we are notable to guarantee total conformity. The information in this documentation is checked on a regu-lar basis, however, and necessary corrections will be incorporated in the subsequent edition.Subject to technical alterations without an effect on the function.KIM-PS5-DOCTranslation of the original documentation

Publication: Pub Spez KR CYBERTECH-2 (PDF) en

PB11698

Book structure: Spez KR CYBERTECH-2 V3.1

BS10819

Version: Spez KR CYBERTECH-2 V4

Contents

1 Introduction.............................................................................................. 71.1 Industrial robot documentation.............................................................................. 71.2 Representation of warnings and notes................................................................. 71.3 Terms used............................................................................................................ 8

2 Purpose..................................................................................................... 92.1 Target group.......................................................................................................... 92.2 Intended use.......................................................................................................... 9

3 Product description................................................................................. 113.1 Overview of the robot system............................................................................... 113.2 Description of the manipulator.............................................................................. 12

4 Technical data.......................................................................................... 154.1 Basic data overview.............................................................................................. 154.2 Axis data overview................................................................................................ 164.3 Payloads overview................................................................................................. 294.4 Foundation loads overview................................................................................... 364.5 Supplementary load............................................................................................... 384.5.1 Supplementary load, reach R1610 + R1810........................................................ 394.5.2 Supplementary load, reach R2010....................................................................... 404.6 Plates and labels................................................................................................... 414.7 REACH duty to communicate information acc. to Art. 33 of Regulation (EC)

1907/2006.............................................................................................................. 444.8 Stopping distances and times............................................................................... 444.8.1 General information............................................................................................... 444.8.2 Terms used............................................................................................................ 454.8.3 Stopping distances and times, KR 8 R2010-2..................................................... 464.8.3.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3................ 464.8.3.2 Stopping distances and stopping times for STOP 1, axis 1................................ 474.8.3.3 Stopping distances and stopping times for STOP 1, axis 2................................ 494.8.3.4 Stopping distances and stopping times for STOP 1, axis 3................................ 514.8.4 Stopping distances and times, KR 12 R1810-2................................................... 514.8.4.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3................ 514.8.4.2 Stopping distances and stopping times for STOP 1, axis 1................................ 524.8.4.3 Stopping distances and stopping times for STOP 1, axis 2................................ 544.8.4.4 Stopping distances and stopping times for STOP 1, axis 3................................ 564.8.5 Stopping distances and times, KR 16 R1610-2................................................... 564.8.5.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3................ 564.8.5.2 Stopping distances and stopping times for STOP 1, axis 1................................ 574.8.5.3 Stopping distances and stopping times for STOP 1, axis 2................................ 594.8.5.4 Stopping distances and stopping times for STOP 1, axis 3................................ 614.8.6 Stopping distances and times, KR 16 R2010-2................................................... 614.8.6.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3................ 614.8.6.2 Stopping distances and stopping times for STOP 1, axis 1................................ 624.8.6.3 Stopping distances and stopping times for STOP 1, axis 2................................ 644.8.6.4 Stopping distances and stopping times for STOP 1, axis 3................................ 66

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4.8.7 Stopping distances and times, KR 20 R1810-2................................................... 664.8.7.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3................ 664.8.7.2 Stopping distances and stopping times for STOP 1, axis 1................................ 674.8.7.3 Stopping distances and stopping times for STOP 1, axis 2................................ 694.8.7.4 Stopping distances and stopping times for STOP 1, axis 3................................ 714.8.8 Stopping distances and times, KR 22 R1610-2................................................... 714.8.8.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3................ 714.8.8.2 Stopping distances and stopping times for STOP 1, axis 1................................ 724.8.8.3 Stopping distances and stopping times for STOP 1, axis 2................................ 744.8.8.4 Stopping distances and stopping times for STOP 1, axis 3................................ 76

5 Safety......................................................................................................... 775.1 General.................................................................................................................. 775.1.1 Liability................................................................................................................... 775.1.2 Intended use of the industrial robot...................................................................... 785.1.3 EC declaration of conformity and declaration of incorporation............................ 785.1.4 Terms used............................................................................................................ 795.2 Personnel............................................................................................................... 805.3 Workspace, safety zone and danger zone........................................................... 815.4 Overview of protective equipment........................................................................ 815.4.1 Mechanical end stops........................................................................................... 825.4.2 Mechanical axis limitation (optional)..................................................................... 825.4.3 Options for moving the manipulator without drive energy................................... 825.4.4 Labeling on the industrial robot............................................................................ 835.5 Safety measures.................................................................................................... 835.5.1 General safety measures...................................................................................... 835.5.2 Transportation........................................................................................................ 855.5.3 Start-up and recommissioning.............................................................................. 855.5.4 Manual mode......................................................................................................... 865.5.5 Automatic mode..................................................................................................... 875.5.6 Maintenance and repair........................................................................................ 875.5.7 Decommissioning, storage and disposal.............................................................. 895.6 Applied norms and regulations............................................................................. 89

6 Planning.................................................................................................... 916.1 Information for planning........................................................................................ 916.2 Mounting base with centering............................................................................... 916.3 Machine frame mounting....................................................................................... 946.4 Connecting cables and interfaces......................................................................... 96

7 Transportation.......................................................................................... 1017.1 Transporting the robot........................................................................................... 101

8 Options...................................................................................................... 1058.1 Release device (optional)...................................................................................... 1058.2 Booster frames...................................................................................................... 105

9 KUKA Service........................................................................................... 1099.1 Requesting support............................................................................................... 1099.2 KUKA Customer Support...................................................................................... 109

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1 Introduction

1.1 Industrial robot documentation

The industrial robot documentation consists of the following parts:

• Documentation for the robot arm• Documentation for the robot controller• Documentation for the smartPAD-2• Operating and programming instructions for the System Software• Instructions for options and accessories• Spare parts in KUKA.Xpert

Each of these sets of instructions is a separate document.

1.2 Representation of warnings and notes

Safety

These warnings are provided for safety purposes and must be observed.

DANGERThese warnings mean that it is certain or highly probable that death orsevere injuries will occur, if no precautions are taken.

WARNINGThese warnings mean that death or severe injuries may occur, if noprecautions are taken.

CAUTIONThese warnings mean that minor injuries may occur, if no precautionsare taken.

NOTICEThese warnings mean that damage to property may occur, if no precau-tions are taken.

These warnings contain references to safety-relevant information or gen-eral safety measures.These warnings do not refer to individual hazards or individual precau-tionary measures.

This warning draws attention to procedures which serve to prevent or rem-edy emergencies or malfunctions:

SAFETY INSTRUCTIONThe following procedure must be followed exactly!

Procedures marked with this warning must be followed exactly.

Notices

These notices serve to make your work easier or contain references tofurther information.

Tip to make your work easier or reference to further information.

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1.3 Terms used

Term Description

EDS Electronic Data Storage

KRC KUKA Robot Controlrobot controller

KUKA smartPAD see “smartPAD”

KUKA smartPAD-2

RDC Resolver Digital Converter

smartPAD Teach pendant for the KR C4

The smartPAD has all the operator control anddisplay functions required for operating andprogramming the industrial robot. 2 models ex-ist:

• smartPAD• smartPAD-2

In turn, for each model there are variants, e.g.with different lengths of connecting cables.

The designation “KUKA smartPAD” or “smart-PAD” refers to both models unless an explicitdistinction is made.

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2 Purpose

2.1 Target group

This documentation is aimed at users with the following knowledge andskills:

• Advanced knowledge of mechanical engineering• Advanced knowledge of electrical engineering• Knowledge of the robot controller system

For optimal use of our products, we recommend that our customerstake part in a course of training at KUKA College. Information about thetraining program can be found at www.kuka.com or can be obtained di-rectly from our subsidiaries.

2.2 Intended use

Use

The industrial robot is intended for handling tools and fixtures or for pro-cessing and transferring components or products. Use is only permittedunder the specified environmental conditions.

Misuse

Any use or application deviating from the intended use is deemed to bemisuse and is not allowed. This includes e.g.:

• Use as a climbing aid• Operation outside the specified operating parameters• Operation without the required safety equipment

NOTICEDeviations from the operating conditions specified in the technical dataor the use of special functions or applications can lead to prematurewear. KUKA Deutschland GmbH must be consulted.

The robot system is an integral part of a complete system and may onlybe operated in a CE-compliant system.

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3 Product description

3.1 Overview of the robot system

A robot system (>>> Fig. 3-1) comprises all the assemblies of an industri-al robot, including the manipulator (mechanical system and electrical in-stallations), control cabinet, connecting cables, end effector (tool) and oth-er equipment. The KR CYBERTECH-2 product family comprises the robotvariants:

• KR 8 R2010-2• KR 12 R1810-2• KR 16 R1610-2• KR 16 R2010-2• KR 20 R1810-2• KR 22 R1610-2

An industrial robot of this product family comprises the following compo-nents:

• Manipulator• Robot controller• Connecting cables• KUKA smartPAD teach pendant• Software• Options, accessories

Fig. 3-1: Example of a robot system

1 Manipulator 3 Robot controller2 Connecting cables 4 Teach pendant, KUKA smart-

PAD

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3.2 Description of the manipulator

Overview

The manipulators (manipulator = robot arm and electrical installations)(>>> Fig. 3-2) of the KR CYBERTECH-2 robot family are designed as 6-axis jointed-arm kinematic systems. They consist of the following principalcomponents:

• In-line wrist/arm• Link arm• Rotating column• Base frame• Electrical installations

Fig. 3-2: Main assemblies of the manipulator

1 Link arm 4 Rotating column2 In-line wrist/arm 5 Base frame3 Electrical installations

Axes 1 to 3 are equipped with end stops. These serve only as machineprotection. There are two options available for personnel protection:

• The Safe Robot functionality of the controller• The use of mechanical axis limitations for axes 1 to 3 (optional)

In-line wrist/arm

The robot can be equipped with a 3-axis in-line wrist/arm combination.This arm/in-line wrist assembly is screwed directly to the link arm of therobot via gear unit A3. This in-line wrist/arm assembly is available in twolength variants. End effectors are attached to the mounting flange of axis6. Axes A1 to A5 have a measuring device, through which the mechanicalzero of the respective axis can be checked by means of an electronicprobe (MEMD) and transferred to the controller. For axis A6, a vernier isavailable for locating the mechanical zero position. Directions of rotation,axis data and permissible loads can be found in the chapter (>>> 4 "Tech-nical data" Page 15).

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The in-line wrist is driven by the motors inside the in-line wrist. Power istransmitted within the in-line wrist directly by gear unit A4 for axis 4; foraxes 5 and 6, gear units with bevel gears and a toothed belt stage areused.The mounting flange conforms, with minimal deviations, to ISO9409-1:2004.

Link arm

The link arm is the assembly located between the arm and the rotatingcolumn. It consists of the link arm body with the buffers for axis 2 and themeasurement notch for axis 3. The link arm is available in two length var-iants.

Rotating column

The rotating column houses the gear units and motors A1 and A2. The ro-tational motion of axis 1 is performed by the rotating column. This isscrewed to the base frame via the gear unit of axis 1 and is driven by amotor in the rotating column. The link arm is also mounted in the rotatingcolumn.

Base frame

The base frame is the base of the robot. It is screwed to the mountingbase. The flexible tube for the electrical installations is installed in thebase frame. Also located on the rear of the base frame are the junctionbox for the motor and data cable and the energy supply system.

Electrical installations

The electrical installations include all the motor and data cables for themotors of axes 1 to 6. The complete electrical installations consist of ca-ble set A1 - A6.Included in the electrical installations are the cable harness and the com-bo box with cover. The connecting cables to the controller and, if applica-ble, the cables for external axes are connected to the combo box, whichcontains the RDC.All connections are implemented as connectors in order to enable themain axis motors to be exchanged quickly and reliably. The electrical in-stallations also include a protective circuit. The ground conductors to therobot are connected to the base frame by means of ring cable lugs andsetscrews.

Options

The robot can, for example, be equipped with the following options. Theoption is described in separate documentation.

• Axis limitation A1, A2 and A3• Energy supply systems A1 to A3• Energy supply systems A3 to A6• Brake release device• Fork slots

The following options are also available:

• Release device(>>> 8.1 "Release device (optional)" Page 105)

• Booster frames(>>> 8.2 "Booster frames" Page 105)

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4 Technical data

4.1 Basic data overview

Basic data

Kinematic type Number of axes Rated payloadMaximum pay-load

KR 8 R2010-2

Jointed-arm 6

8 kg 9.8 kg

KR 12 R1810-2 12 kg 14.5 kg

KR 16 R1610-216 kg

20 kg

KR 16 R2010-2 19.2 kg

KR 20 R1810-2 20 kg 23.9 kg

KR 22 R1610-2 22 kg 27.3 kg

Maximum reachVolume ofworking enve-lope

Pose repeatabil-ity (ISO 9283)

Footprint

KR 8 R2010-2 2013 mm 32.5 m³

± 0.04 mm 430.5 mm x 370mm

KR 12 R1810-2 1813 mm 23.3 m³

KR 16 R1610-2 1612 mm 16.25 m³

KR 16 R2010-2 2013 mm 32.5 m³

KR 20 R1810-2 1813 mm 23.3 m³

KR 22 R1610-2 1612 mm 16.25 m³

WeightProtection rat-ing (IEC 60529)

Protection rat-ing, in-line wrist(IEC 60529)

Sound level

KR 8 R2010-2 approx. 260 kg

IP65 IP65 < 65 dB (A)

KR 12 R1810-2 approx. 255 kg

KR 16 R1610-2

KR 16 R2010-2 approx. 260 kg

KR 20 R1810-2 approx. 255 kg

KR 22 R1610-2

Ambient conditions

Humidity class (EN 60204) -

Classification of environmentalconditions (EN 60721-3-3)

3K3

Ambient temperature

During operation 5 °C to 55 °C (278 K to 328 K)

During storage/transportation -20 °C to 60 °C (253 K to 333 K)

For operation at low temperatures, it may be necessary to warm up therobot.

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Connecting cables

Cable designation Connector designa-tionrobot controller - ro-bot

Interface with robot

Motor cable X20 / X30 Han-Yellock® 60

Data cable X21 / X31 HAN 3A Q12

Ground conductor /equipotential bonding16 mm2

(optional)

M8 ring cable lug atboth ends

Cable lengths

Standard 4 m, 7 m, 15 m, 25 m, 35 m, 50 m

Minimum bending radius 5x D

For detailed specifications of the connecting cables, see “Description ofthe connecting cables”.

4.2 Axis data overview

Axis data

Motion range

A1 A2 A3 A4 A5 A6

KR 8 R2010-2

±185 ° -185 ° / 65 ° -138 ° / 175 ° ±350 ° ±130 ° ±350 °

KR 12 R1810-2

±185 ° -185 ° / 65 ° -138 ° / 175 ° ±350 ° ±130 ° ±350 °

KR 16 R1610-2

±185 ° -185 ° / 65 ° -138 ° / 175 ° ±350 ° ±130 ° ±350 °

KR 16 R2010-2

±185 ° -185 ° / 65 ° -138 ° / 175 ° ±350 ° ±130 ° ±350 °

KR 20 R1810-2

±185 ° -185 ° / 65 ° -138 ° / 175 ° ±350 ° ±130 ° ±350 °

KR 22 R1610-2

±185 ° -185 ° / 65 ° -138 ° / 175 ° ±350 ° ±130 ° ±350 °

Speed with rated payload

A1 A2 A3 A4 A5 A6

KR 8 R2010-2

200 °/s 175 °/s 190 °/s 430 °/s 430 °/s 630 °/s

KR 12 R1810-2

200 °/s 175 °/s 190 °/s 430 °/s 430 °/s 630 °/s

KR 16 R1610-2

200 °/s 175 °/s 190 °/s 430 °/s 430 °/s 630 °/s

KR 16 R2010-2

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Speed with rated payload

A1 A2 A3 A4 A5 A6

200 °/s 175 °/s 190 °/s 430 °/s 430 °/s 630 °/s

KR 20 R1810-2

200 °/s 175 °/s 190 °/s 430 °/s 430 °/s 630 °/s

KR 22 R1610-2

200 °/s 175 °/s 190 °/s 430 °/s 430 °/s 630 °/s

The direction of motion and the arrangement of the individual axes maybe noted from the following diagram (>>> Fig. 4-1).

Fig. 4-1: Direction of rotation of robot axes

Working envelope

The following diagrams show the shape and size of the working envelopefor these variants of this product family.The reference point for the working envelope is the intersection of axes 4and 5.

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Working envelope, KR 8 R2010-2

Fig. 4-2: Working envelope, overall view, KR 8 R2010-2

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Inclined installation

The robot can installed anywhere from a 0° position (floor) to a 180° posi-tion (ceiling). This type of installation results in limitations to the range ofmotion in the plus and minus directions about axis 1. The following figureshows the possible limitation of the motion range of axis 1, as a functionof the angle of inclination of the robot.The inclination angles for the robot must be entered correctly into the con-troller if the robot is not operated in the floor-mounted position. A configu-ration of the angles is possible via WorkVisual.The inclination angles for an unchanged main working direction of the ro-bot:Floor: A:0°, B:0°, C:0°

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Wall: A:0°, B:90°, C:0°Ceiling: A:0°, B:0°, C:180°

CAUTIONThe inclined installation angles must be individually checked and en-tered. An incorrectly entered inclined installation angle can lead to un-foreseen motion and/or to an overload and, potentially, damage to therobot.

Motion range of A1 with inclined installation, KR 8 R2010-2

Fig. 4-8: Motion range of A1 with inclined installation, KR 8 R2010-2

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Fig. 4-9: Motion range of A1 with inclined installation, KR 12 R1810-2

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Fig. 4-10: Motion range of A1 with inclined installation, KR 16R1610-2

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4.3 Payloads overview

Payloads

Rated payloadMaximum pay-load

Rated massmoment of iner-tia

Rated total load

KR 8 R2010-2 8 kg 9.8 kg

0.36 kgm²

18 kg

KR 12 R1810-2 12 kg 14.5 kg 22 kg

KR 16 R1610-216 kg

20 kg26 kg

KR 16 R2010-2 19.2 kg

KR 20 R1810-2 20 kg 23.9 kg 30 kg

KR 22 R1610-2 22 kg 27.3 kg 32 kg

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Rated supplementary loads

Base frameRotating col-umn

Link arm Arm

KR 8 R2010-2

0 kg 0 kg 0 kg 10 kg

KR 12 R1810-2

KR 16 R1610-2

KR 16 R2010-2

KR 20 R1810-2

KR 22 R1610-2

Maximum supplementary loads

Base frameRotating col-umn

Link arm Arm

KR 8 R2010-2

0 kg 20 kg 15 kg 15 kg

KR 12 R1810-2

KR 16 R1610-2

KR 16 R2010-2

KR 20 R1810-2

KR 22 R1610-2

Load center of gravity

For all payloads, the load center of gravity refers to the distance from theface of the mounting flange on axis 6.

Fig. 4-14: Load center of gravity

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Nominal distance to load center of gravity

Lxy Lz

KR 8 R2010-2

120 mm 150 mm

KR 12 R1810-2

KR 16 R1610-2

KR 16 R2010-2

KR 20 R1810-2

KR 22 R1610-2

Payload diagram, KR 8 R2010-2

Fig. 4-15: KR 8 R2010-2 payload diagram



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NOTICEThis loading curve corresponds to the maximum load capacity. Both val-ues (payload and mass moment of inertia) must be checked in all ca-ses. Exceeding this capacity will reduce the service life of the robot andoverload the motors and the gears; in any such case KUKA Deutsch-land GmbH must be consulted beforehand.The values determined here are necessary for planning the robot appli-cation. For commissioning the robot, additional input data are requiredin accordance with the operating and programming instructions of theKUKA System Software.The mass inertia must be verified using KUKA.Load. It is imperative forthe load data to be entered in the robot controller!

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The manipulator is designed for its respective rated payload in order tooptimize the dynamic performance of the robot. With reduced load centerdistances, higher loads up to the maximum payload may be used. Thespecific load case must be verified using KUKA.Load. For further consulta-tion, please contact KUKA Support.

Mounting flange

Designation In-line wrist type Mounting flange

KR 8 R2010-2ZH 8/12/16/20

see drawing

KR 12 R1810-2

KR 16 R1610-2 ZH 16/22

KR 16 R2010-2ZH 8/12/16/20

KR 20 R1810-2

KR 22 R1610-2 ZH 16/22

Mounting flange (hole circle) 50.0 mm

Screw grade 12.9

Screw size M6

Number of fastening threads 7

Clamping length 1.5 x nominal diameter

Depth of engagement min. 6 mm, max. 9 mm

Locating element 6 H7

The mounting flange is depicted with axes 4 and 6 in the zero position.The symbol Xm indicates the position of the locating element (bushing) inthe zero position.

Fig. 4-21: Mounting flange

Flange loads

Due to the motion of the payload (e.g. tool) mounted on the robot, forcesand torques act on the mounting flange. These forces and torques dependon the motion profile as well as the mass, load center of gravity and massmoment of inertia of the payload.The specified values refer to nominal payloads at the nominal distanceand do not include safety factors. It is imperative for the load data to beentered in the robot controller. The robot controller takes the payload into

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consideration during path planning. A reduced payload does not necessa-rily result in lower forces and torques.The values are guide values determined by means of trial and simulationand refer to the most heavily loaded machine in the robot family. The ac-tual forces and torques may differ due to internal and external influenceson the mounting flange or a different point of application. It is thereforeadvisable to determine the exact forces and torques where necessary onsite under the real conditions of the actual robot application.The operating values may occur permanently in the normal motion profile.It is advisable to rate the tool for its fatigue strength.The EMERGENCY STOP values may arise in the event of an EmergencyStop situation of the robot. As these should only occur very rarely duringthe service life of the robot, a static strength verification is usually suffi-cient.

Fig. 4-22: Flange loads

Axial force F(a), radial force F(r)

Flange loads during operationFlange loads in the case of EMERGENCYSTOP

F(a) F(r) F(a) F(r)

Designation: KR 8 R2010-2

286 N 369 N 613 N 1149 N


399 N 531 N 867 N 1529 N


540 N 672 N 1116 N 1817 N


518 N 636 N 1069 N 1800 N


601 N 746 N 1294 N 2073 N


635 N 795 N 1384 N 2182 N

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Tilting torque M(k), torque about mounting flange M(g)

Flange loads during operationFlange loads in the case of EMERGENCYSTOP

M(k) M(g) M(k) M(g)


106 Nm 68 Nm 299 Nm 204 Nm


121 Nm 75 Nm 341 Nm 224 Nm


142 Nm 83 Nm 374 Nm 236 Nm


144 Nm 83 Nm 371 Nm 232 Nm


150 Nm 90 Nm 369 Nm 247 Nm


144 Nm 87 Nm 410 Nm 246 Nm

4.4 Foundation loads overview

The specified forces and moments already include the payload and the in-ertia force (weight) of the robot.

Fig. 4-23: Foundation loads

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Vertical force F(v)

Foundation loads for floormounting position

Foundation loads forceiling mounting position

Foundation loads for wallmounting position

F(v normal) F(v max) F(v normal) F(v max) F(v normal) F(v max)


3745 N 5320 N 3893 N 5290 N 1445 N 3352 N


3683 N 5386 N 3904 N 5347 N 1279 N 3417 N


3685 N 5522 N 3860 N 5513 N 1407 N 3501 N


3882 N 5501 N 4015 N 5499 N 1362 N 3524 N


3712 N 5495 N 3958 N 5532 N 1318 N 3565 N


3735 N 5616 N 3909 N 5637 N 1297 N 3615 N

Horizontal force F(h)




F(h normal) F(h max) F(h normal) F(h max) F(h normal) F(h max)


2066 N 5271 N 2229 N 4943 N 4143 N 6839 N


2065 N 5396 N 1985 N 4998 N 4002 N 7076 N


2325 N 5481 N 2272 N 5072 N 4229 N 7218 N


2097 N 5493 N 2091 N 5075 N 4143 N 6562 N


2269 N 5715 N 2128 N 5254 N 4093 N 7152 N


2171 N 5665 N 1988 N 5212 N 4047 N 6711 N

Tilting torque M(k)




M(k normal) M(k max) M(k normal) M(k max) M(k normal) M(k max)


3150 Nm 7742 Nm 3431 Nm 7899 Nm 4254 Nm 8173 Nm


2912 Nm 7386 Nm 3691 Nm 7587 Nm 3934 Nm 7835 Nm


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M(k normal) M(k max) M(k normal) M(k max) M(k normal) M(k max)

3191 Nm 7443 Nm 3498 Nm 7605 Nm 4118 Nm 7884 Nm


3184 Nm 8445 Nm 4246 Nm 8649 Nm 4537 Nm 8887 Nm


3090 Nm 7982 Nm 3365 Nm 8184 Nm 4137 Nm 8459 Nm


2833 Nm 7943 Nm 3765 Nm 8432 Nm 2666 Nm 8125 Nm

Torque M(r)




M(r normal) M(r max) M(r normal) M(r max) M(r normal) M(r max)

KR 8 R2010-2

1899 Nm 3666 Nm 1959 Nm 3677 Nm 1732 Nm 3689 Nm

KR 12 R1810-2

1570 Nm 3588 Nm 1613 Nm 3589 Nm 1443 Nm 3603 Nm

KR 16 R1610-2

1737 Nm 3554 Nm 1789 Nm 3554 Nm 1576 Nm 3593 Nm

KR 16 R2010-2

1828 Nm 3747 Nm 1869 Nm 3746 Nm 1648 Nm 3785 Nm

KR 20 R1810-2

1726 Nm 3682 Nm 1762 Nm 3682 Nm 1646 Nm 3709 Nm

KR 22 R1610-2

1494 Nm 3614 Nm 1326 Nm 3660 Nm 1536 Nm 3614 Nm

WARNINGNormal loads and maximum loads for the foundations are specified inthe table.The maximum loads must be referred to when dimensioning the founda-tions and must be adhered to for safety reasons. Failure to observe thiscan result in personal injury and damage to property.The normal loads are average expected foundation loads. The actualloads are dependent on the program and on the robot loads and maytherefore be greater or less than the normal loads.The supplementary loads (A1 and A2) are not taken into considerationin the calculation of the mounting base load. These supplementaryloads must be taken into consideration for Fv.

4.5 Supplementary load

The robot can carry supplementary loads on the arm, link arm and rotat-ing column. The fastening holes on the arm, link arm and rotating columnare used, for example, for fastening the covers or external energy supplysystems. The fastening holes on the in-line wrist are exclusively for fasten-ing holders for energy supply systems (e.g. holders for compressed airhose).

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When mounting the supplementary loads, be careful to observe the maxi-mum permissible total load. The dimensions and positions of the installa-tion options can be seen in the following diagram.

The sum of all loads mounted on the robot must not exceed the maxi-mum total load.

Further information about the supplementary load on the robot can befound in the following sections.

Robot Description

KR 12 R1810-2

KR 16 R1610-2

KR 20 R1810-2

KR 22 R1610-2

(>>> 4.5.1 "Supplementary load, reachR1610 + R1810" )

KR 8 R2010-2

KR 16 R2010-2(>>> 4.5.2 "Supplementary load, reachR2010" Page 40)

4.5.1 Supplementary load, reach R1610 + R1810

The following diagrams show the dimensions and position of the installa-tion options on the in-line wrist/arm, link arm and rotating column.

Fig. 4-24: Fastening the supplementary load, arm

1 Mounting surface for supplementary load, in-line wrist/arm

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Fig. 4-25: Fastening the supplementary load, link arm/rotating column

1 Mounting surface for supplementary load, link arm2 Mounting surface for supplementary load, rotating column, both

sides

4.5.2 Supplementary load, reach R2010

The following diagrams show the dimensions and position of the installa-tion options on the in-line wrist/arm, link arm and rotating column.

Fig. 4-26: Fastening the supplementary load, arm

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1 Mounting surface for supplementary load, in-line wrist/arm

Fig. 4-27: Fastening the supplementary load, link arm/rotating column

1 Mounting surface for supplementary load, link arm2 Mounting surface for supplementary load, rotating column, both

sides

4.6 Plates and labels

Plates and labels

The following plates and labels (>>> Fig. 4-28) are attached to the robot.They must not be removed or rendered illegible. Illegible plates and labelsmust be replaced. The plates and labels depicted here are valid for all ro-bots of this robot model.

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Fig. 4-28: Location of plates and labels

Item Description

1

High voltageAny improper handling can lead to contact with current-carryingcomponents. Electric shock hazard!

2

Hot surfaceDuring operation of the robot, surface temperatures may bereached that could result in burn injuries. Protective gloves mustbe worn!

3

Identification plateContent according to Machinery Directive.

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Item Description

4

Work on the robotBefore start-up, transportation or maintenance, read and followthe assembly and operating instructions.

5

Transport positionBefore loosening the bolts of the mounting base, the robot mustbe in the transport position as indicated in the table. Risk oftoppling!

6

Danger zoneEntering the danger zone of the robot is prohibited if the robotis in operation or ready for operation. Risk of injury!

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Item Description

7

Secure the axesBefore exchanging any motor, secure the corresponding axisthrough safeguarding by suitable means/devices to protectagainst possible movement. The axis can move. Risk of crush-ing!

4.7 REACH duty to communicate information acc. to Art. 33 of Regulation(EC) 1907/2006

On the basis of the information provided by our suppliers, this product andits components contain no substances included on the "Candidate List" ofSubstances of Very High Concern (SVHCs) in a concentration exceeding0.1 percent by mass.

4.8 Stopping distances and times

4.8.1 General information

Information concerning the data:

• The stopping distance is the angle traveled by the robot from the mo-ment the stop signal is triggered until the robot comes to a completestandstill.

• The stopping time is the time that elapses from the moment the stopsignal is triggered until the robot comes to a complete standstill.

• The data are given for the main axes A1, A2 and A3. The main axesare 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 con-form to the requirements of DIN EN ISO 10218-1. The actual stoppingdistances and stopping times may differ due to internal and externalinfluences on the braking torque. It is therefore advisable to determine

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the exact stopping distances and stopping times where necessary un-der the real conditions of the actual robot application.

• Measuring techniqueThe stopping distances were measured using the robot-internal meas-uring technique.

• The wear on the brakes varies depending on the operating mode, ro-bot application and the number of STOP 0 stops triggered. It is there-fore advisable to check the stopping distance at least once a year.

4.8.2 Terms used

Term Description

m Mass of the rated load and the supplementary loadon the arm.

Phi Angle of rotation (°) about the corresponding axis.This value can be entered in the controller via theKCP/smartPAD and can be displayed on the KCP/smartPAD.

POV Program override (%) = velocity of the robot motion.This value can be entered in the controller via theKCP/smartPAD and can be displayed on the KCP/smartPAD.

Extension Distance (l in %) (>>> Fig. 4-29) between axis 1 andthe intersection of axes 4 and 5. With parallelogramrobots, the distance between axis 1 and the intersec-tion of axis 6 and the mounting flange.

KCP KUKA Control Panel

Teach pendant for the KR C2/KR C2 edition2005

The KCP has all the operator control and displayfunctions required for operating and programming theindustrial robot.


The smartPAD has all the operator control and dis-play functions required for operating and program-ming the industrial robot.

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Fig. 4-29: Extension

4.8.3 Stopping distances and times, KR 8 R2010-2

4.8.3.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3

The table shows the stopping distances and stopping times after a STOP0 (category 0 stop) is triggered. The values refer to the following configu-ration:

• Extension l = 100%• Program override POV = 100%• Mass m = maximum load (rated load + supplementary load on arm)

Stopping distance (°) Stopping time (s)

Axis 1 21.770 0.196

Axis 2 17.770 0.180

Axis 3 16.640 0.160

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4.8.3.2 Stopping distances and stopping times for STOP 1, axis 1

Fig. 4-30: Stopping distances for STOP 1, axis 1

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Fig. 4-31: Stopping times for STOP 1, axis 1

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Axis 1 20.64 0.19

Axis 2 15.41 0.17

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Axis 3 20.54 0.19



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