KUKA KR 15 DELTA-2 Robot Installation and Maintenance

KUKA KR 15 DELTA-2 Robot Installation and Maintenance

Product positioning: 15kg heavy-duty Delta platform

KUKA KR 15 DELTA-2 is a four axis Delta parallel robot product series designed by KUKA for high-speed Pick&Place applications. It consists of two models: KR 15 D1200-2 (order number 0000-474-575) and KR 15 D1600-2 (order number 0000-470-149), both of which are ISO 10218-1 Class II robot grades. Compared with the previously introduced KR 3 D1200 (3 kg load), this series increases the rated load of the Delta platform to 8 kg and the maximum load to 15 kg, directly entering the heavy-duty sorting and palletizing front-end handling scenarios that were previously only covered by traditional six axis robots.

The complete robot system consists of a robotic arm (including the mechanical system and cable assembly), a robot controller, connecting cables, tools, and other equipment. The accompanying teaching pendant is smartPAD-2, and the controller is KR C5 S6. The robotic arm mainly consists of an upper arm, a forearm, an installation flange, a movable plate, a base frame, and a cable assembly - the forearm and the movable plate are delivered through on-site assembly, which runs through the entire process of transportation, installation, and retirement.

The prohibited items are consistent with the KUKA general framework: not to be used as climbing aids, not to operate outdoors, not to be used in potential explosive areas or radioactive environments, not to be used in underground mining operations, not to transport personnel and animals, and not to operate without necessary safety equipment. Deviation from the operating conditions specified in the technical data can lead to premature wear, and such applications require consultation with KUKA services. As a component of a complete system, robot systems can only operate in systems that meet CE requirements.

Comparison of Core Parameters between Two Models

Parameter item KR 15 D1200-2 KR 15 D1600-2

Workspace volume 0.435 m ³ 0.762 m ³

Repetitive accuracy XY/Z/R ± 0.04 mm/± 0.04 mm/± 0.025 ° same as left

Self weight approximately 94.8 kg, approximately 95 kg

Rated/maximum load 8 kg/15 kg 8 kg/15 kg

Maximum working diameter 1200 mm 1600 mm

Maximum working height 450 mm 455 mm

Protection level (IEC 60529) IP65 IP65

Noise<77 dB (A)<77 dB (A)

Installation location: Ceiling Ceiling

Base occupies Ø 350 mm circle Ø 350 mm circle

Controller KR C5 S6 KR C5 S6

The range of motion for the two models is exactly the same: A1/A2/A3 each -80 ° to+40 °, A4 axis ± 355 °; Under rated load, the speed of axes A1-A3 is 670 °/s, and A4 axis is 720 °/s. The zero calibration positions of the four axes are all 0 °. Environmental conditions: Operating temperature range from 0 ° C to 45 ° C, storage and transportation range from -25 ° C to 60 ° C, environmental classification level 3K22. Preheating may be necessary before low-temperature operation, and frost and condensation must be avoided during low-temperature operation, otherwise it may cause property damage.

The default color scheme is base signal white (RAL 9003) and black (RAL 9005). The IP65 protection level means that this series can directly cope with dust and splashes in food secondary packaging, daily chemical products, and other working conditions, without the need for outer cover protection - this is the essential difference from the selection of IP20 SCARA products.

Tip for using the motion range: The document suggests limiting the actual motion range to the maximum diameter and shrinking it by 100 mm during operation to avoid the robot running to the edge of the workspace - this should be included in the point planning during the trajectory teaching stage, otherwise the edge speed will be limited and the beat will be directly stretched.

Cycle time - the direct basis for rhythm calculation

The cycle time given in the document is the continuous motion data between the picking and placing points, with a path format of up forward down. The programming method is divided into DLIN with 0.3 mm approximation positioning (DLIN1) and DLIN endpoint complete stop (DLIN2):

Load 25-305-25 DLIN1 25-305-25 DLIN2 90-400-90 DLIN1 90-400-90 DLIN2

1 kg 0.48 s 0.61 s 0.56 s 0.67 s

4 kg 0.50 s 0.62 s 0.58 s 0.70 s

8 kg 0.59 s 0.72 s 0.63 s 0.76 s

15 kg 0.61 s 0.75 s 0.68 s 0.82 s

Three engineering conclusions are worth writing into the beat calculation table: firstly, approximating the positioning can obtain the fastest cycle time, and DLIN1 is shortened by about 0.13 seconds relative to DLIN2; secondly, the cycle schedules of the two models are completely the same - although D1600-2 has a longer arm span, it is not inferior to D1200-2 in these two standardized cycles. When selecting, if the working diameter needs to be 1600 mm, there is no need to worry about the beat; Thirdly, according to the application (especially when it comes to workpiece characteristics), the picking or placing process may require an increase in waiting time. Process delays such as vacuum suction cup establishment and visual triggering must be taken into account and cannot be directly copied from the values in the table.