KUKA KR 13 SCARA-2 CS Detailed Explanation

Before starting, the default password of the system software must be changed, and only authorized personnel should be informed that the CS Box-2 controller has Ethernet and remote access capabilities, which is the baseline for information security.

Cable and pneumatic interface system

Three piece set of connecting cables: motor cable (Motor Power-X30, WEIPU WF 28 series, 20 pin), data cable (Encoder-X31, 26 pin), grounding conductor (optional, M4 ring terminal block, required according to DIN EN 60204). The length standard is 5 meters, with optional options of 3 meters or 10 meters. The fixed laying bending radius is not less than 55 mm for motor cables and 45 mm for data cables. It can only be laid indoors at temperatures ranging from -30 ° C to+80 ° C. The motor and data cables must be laid in separate metal slots.

A1 interface (back of base) layout: Three air sources AIR 1/2/3 (Ø 6mm air tube, maximum 0.7 MPa, vacuum to -0.095 MPa), user connectors X40 (15 pin D-sub I/O expansion), X74 (8-pin M12 X-code Ethernet expansion), motor cable X30, data cable X31, grounding terminal, battery, CR version with additional AIR 0 negative pressure interface.

A2 interface (arm) layout: brake release button (only valid for A3/A4 axis, press and hold to release), X94 Ethernet extension, X41 I/O extension, air path AIR 1/2/3 adapter, motor working indicator light.

User cable installation discipline: It is strictly prohibited to tie user cables to corrugated pipes; High flexibility cables must be used and shielded to connect with the overall electrical potential of the machine; After installation, it is necessary to confirm the stress state of the cable and corrugated pipe, as well as the unrestricted working space of the robot. The arm is reserved with a user cable bracket installation interface, and although the base does not have a dedicated interface, some bolt holes can be borrowed to assist in installation.

Manual movement: dual path of software and hardware

A1/A2 axis: Activate the Servo Free mode through KUKA. ControlStudio, and enable A1 or A2 in the software to slowly move the axis body by hand - the arm axis has no physical release button and completely follows the software path.

A3/A4 axis: Press and hold the brake release button on the arm to manually move. Key warning: When pressing and holding the button to release the A3 brake, if there is no load installed on the flange, A3 may fall due to its own weight - the load/spindle must be held by hand during operation to prevent injury from falling.

Stop category and braking system

The stop category definition of the CS series has its own characteristics, and when troubleshooting, the stop behavior must be judged according to the trigger source:

Stop 0: The drive is immediately powered off, and both the short-circuit brake and the electromechanical brake are activated simultaneously. Trigger source: Robot power failure, CPU failure, fatal drive system failure.

Stop 1: Control the braking within the maximum torque margin of the reserved motor along the original path and apply the shortest distance. After a period of time, the drive system will be powered off, and then the short-circuit brake and electromechanical brake will be activated. Trigger source: emergency stop, safety input, control failure, workspace exceeding limit, program trigger.

Stop 2: The drive does not cut off power, the brake is not engaged, and the braking slope is slowed down according to the path holding type.

The definition of T1/T2 mode is consistent with the KSS system (T1 ≤ 250 mm/s, T2>250 mm/s and manual teaching is not allowed), but the speed implementation of T1 is based on safety configuration oriented speed monitoring rather than mechanical deceleration.

Stop distance data - input for safety fence design

Taking R650 Z200-2 CS as an example (Extension l=100%, Project Velocity=100%):

Condition A1 A2 A3

Stop 0 · Rated load 87.80 °/0.36 s 136.97 °/0.38 s 44.89 mm/0.06 s

Stop 0 · Maximum load 85.69 °/0.41 s 119.44 °/0.39 s 58.40 mm/0.08 s

Stop 1 · Rated load 59.77 °/0.20 s 62.88 °/0.17 s 77.95 mm/0.10 s

Stop 1 · Maximum load 41.90 °/0.19 s 58.30 °/0.19 s 67.30 mm/0.10 s

The Stop 0 A1 axis stop distance of R850 Z200-2 CS is as high as 126.53 ° (0.57 s, rated load), which is the maximum value in the entire family - the SCARA high-speed rotation stop distance far exceeds the joint robot in terms of angle. The fence and light curtain layout must be calculated axis by axis according to the corresponding model's Stop 0 table. Stacking axis motion will lengthen the stopping distance; Brake wear is related to the number of Stop 0 triggers, and it is recommended to check the stop distance at least once a year.

Boundary conditions for safety protection: The controller directly supports the safety door sensor, and other devices such as light curtains and presence sensors are not directly supported - if they are to be used, the integrator must conduct a risk assessment and certify the solution themselves.

Maintenance cycle table and tension calibration of toothed belt

Cycle task consumables

Tighten 4 mounting base bolts for 100 hours (only once) -