KUKA KR 13 SCARA-2 CS Detailed Explanation

KUKA KR 13 SCARA-2 CS Selection and Maintenance

Product family: Ten models covering three types of trips

KR 13 SCARA-2 CS is a four axis articulated arm (SCARA) robot product family developed by KUKA for picking, placing, assembling, and handling applications. The controller uses KR CS Box-2 and the accompanying teaching pendant is smartPAD touch. Programming and operation are completed through KUKA. ControlStudio system software - this is the complete software ecosystem that distinguishes the CS series from the KR C4/C5 series (KSS/iiQKA).

The family is composed of three types of arm extensions (R650/R750/R850) and three types of Z-travel (Z170/Z200/Z400/Z600), with a total of ten models: seven standard versions (R650 Z200/Z400, R750 Z200/Z400/Z600, R850 Z200/Z400) and three CR cleanroom versions (R650/R750/R850 Z170-2 CS CR).

Horizontal comparison of core parameters

Parameter item R650 series R750 series R850 series

Rated/maximum load 6 kg/13 kg 6 kg/13 kg 6 kg/13 kg 6 kg/13 kg

Repetition accuracy XY/Z/R ± 0.025 mm/± 0.01 mm/± 0.01 ° same as left

A1 speed (rated load) 430 °/s 410 °/s 390 °/s

A2 speed 600 °/s 650 °/s 650 °/s

A3/A4 Speed 1.1 m/s/2700 °/s Same Left Same Left

Standard version cycle time 0.42 s 0.43-0.44 s 0.44 s

Self weight 44.5-45.5 kg 45.5-46.5 kg 46.5-47 kg

Workspace volume 0.208-0.415 m ³ 0.309-0.925 m ³ 0.397-0.794 m ³

Common parameters of each model: A1 stroke ± 145 ° (R650 Z200 ± 145 °), A4 stroke ± 360 °, protection level IP20 (CR version IP54), installation position on the ground, footprint of only 210 × 210 mm, noise<80 dB (A), environmental conditions 3K22 level, operating temperature 0-45 ° C. Low temperature operation requires deceleration and acceleration preheating before normal use - this is the most easily overlooked start-up requirement for SCARA high-speed mechanisms when put into production in winter workshops.

The key differences of CR cleanroom version are: ISO 14644-1 Class 5 cleanliness (under 100% override), fixed Z-stroke of -170 mm, increased protection level to IP54, slightly reduced A2 speed (600 °/s compared to standard version 650 °/s), slightly increased cycle time (0.44-0.46 s), and the addition of AIR 0 negative pressure suction interface for cleanroom dust management. Semiconductors, pharmaceuticals, and precision electronic assembly are the target scenarios for the CR version.

One design highlight is that the A3 axis allows for a process force of 250 N, which means that pressing, testing probe pressing, and other processes can be directly undertaken by the A3 vertical stroke without the need for an additional Z-axis module.

Load and flange design

All models have a rated load of 6 kg and a maximum load of 13 kg. The flange has a maximum inertia Iz of 0.3 kgm ² and a rated load of 0.02 kgm ². The arm allows for a maximum additional load of 2 kg (installed on the support frame under the arm). The document clearly states that the design of a rated load of 6 kg is to optimize dynamic performance, and a maximum load of 13 kg is allowed under the premise of reducing the distance between the center of gravity of the load. This needs to be confirmed with KUKA technical support. To reduce the vibration caused by the load, the offset of the center of gravity relative to the flange should be minimized as much as possible when installing the end load.

The installation of flanges is not included in the scope of supply and is self-made by the user. It must follow the following rules: hole distribution circle with 1 mm flat cut positioning, maximum outer diameter Ø 18. This open design is a bonus for tool quick change mechanism integrators, but the machining accuracy must be guaranteed by oneself.

Flange load (under rated load, without safety factor, divided by arm span):

Operating condition R650 R750 R850

Running F ®  746 N 679 N 610 N

Running M (k) 105 Nm 95 Nm 85 Nm

Emergency stop F ®  344 N 287 N 257 N

Emergency stop M (k) 48 Nm 41 Nm 36 Nm

Attention to the rule: The longer the arm span, the smaller the flange force during operation (the speed limit of the long arm model is lower). The tool design should be based on the corresponding arm span gear, and cross gear mixing is not allowed.

Foundation load and installation foundation

Load item R650 R750 R850

F(v max) 803 N 811 N 818 N

F(h max) 1381 N 1298 N 1184 N

M(k max) 563 Nm 565 Nm 571 Nm

M(r max) 334 Nm 357 Nm 379 Nm

The foundation design must be checked according to the maximum value, ignoring the maximum load can cause personal injury and property damage.

Installation foundation requirements: fixed with 4 M12 or M14 bolts, the installation base must be made of steel, with a thickness of not less than 20 mm and a flatness of not more than 0.4 mm. The base is not within the scope of supply. Key points of installation process: The maximum allowable horizontal deviation of the base is 5 ° → Insert 2 positioning pins → Slowly lower the robotic arm vertically (not vertical will damage the positioning pins) → Tighten 4 bolts diagonally step by step. Screws with a strength grade of 10.9 or above, grade 70/80 stainless steel, and certified by testing are only allowed to be tightened once with the rated torque, and must be replaced after the first loosening. Tighten the installation bolts again 100 hours after startup.