KUKA KR 20 SCARA CS Robot Selection and Maintenance Guide

KUKA KR 20 SCARA CS Robot Selection and Maintenance Guide

Product family: 20kg heavy-duty SCARA platform

KUKA KR 20 SCARA CS is a family of four axis articulated arm (SCARA) robots designed for heavy-duty picking, placing, assembly, and handling applications. The controller uses KR CS Box-2, the teaching pendant is smartPAD touch, and the system software is KUKA. ControlStudio. The family includes four models: KR 20 R800 Z450 CS, KR 20 R1000 Z450 CS, KR 20 R1200 Z450 CS, and the cleanroom version KR 20 R1200 Z390 CS CR. Compared with the KR 13 SCARA-2 CS family, this series has increased the maximum load from 13 kg to 20 kg, catering to heavy-duty handling and large component assembly scenarios.

The robotic arm is a 4-axis articulated arm kinematic system, mainly composed of: arm body (Arm, connecting ball screw spline and connecting rod arm, built-in A3/A4 axis motor, driven by A2 motor, swing angle is mechanically limited by overtravel protection devices in both forward and reverse directions), ball screw spline, connecting rod arm (Link arm, located between arm body and base, swing angle is also mechanically limited), base frame (built-in electrical device and motor/data cable, energy supply system interface) and electrical devices (protection circuit, A1-A4 motor and data cable, I/O cable, trachea, Ethernet cable, controller connection cable).

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 explosive areas/radioactive environments/underground mines, not to transport personnel and animals, and not to operate without safety equipment. Deviation from the technical data specifications can lead to premature wear and tear. Such applications require consultation with KUKA services, and robots can only operate in systems that meet CE requirements.

Horizontal comparison of core parameters of four models

Parameter item R800 Z450 R1000 Z450 R1200 Z450 R1200 Z390 CR

Workspace volume 0.731 m ³ 1.202 m ³ 1.652 m ³ 1.432 m ³

Repetitive accuracy XY ± 0.025 mm ± 0.025 mm ± 0.035 mm ± 0.035 mm

Self weight approximately 59.7 kg, approximately 61.3 kg, approximately 63.2 kg, approximately 64 kg

Rated/maximum load 10/20 kg 10/20 kg 10/20 kg 10/20 kg 10/20 kg

A1 speed 350 °/s 270 °/s 245 °/s 243 °/s

A2 speed 475 °/s 450 °/s 390 °/s 390 °/s

A3/A4 speed 0.91 m/s/1400 °/s same left, same left, same left

Cycle time 0.46 s 0.48 s 0.50 s 0.52 s

Protection level IP20 IP20 IP20 IP54

Noise<75 dB (A)<75 dB (A)<75 dB (A)<80 dB (A)

Cleanliness (ISO 14644-1) - Level 5 (100% override)

Common parameters: A1/A2 stroke ± 140 °, A3 stroke -450 mm to 0 (CR version -390 mm), A4 stroke ± 360 °; The zero calibration positions of all four axes are 0; Installation location on the ground, occupying only 230 × 235 mm; controller KR CS Box-2; Default color KUKA Industrial Orange (RAL 2009)+Signal White (RAL 9003); Environment level 3K22, operating at 0-45 ° C, storage and transportation at -25 ° C to 55 ° C. Before operating at low temperatures, it is necessary to reduce speed and acceleration and preheat before normal use.

Three selection rules are worth noting: firstly, the vertical speed of A3 is 0.91 m/s, and the rotation speed of A4 is 1400 °/s, which remain constant throughout the entire family. The increase in arm span only sacrifices the rotation speed of A1/A2; Secondly, the repeatability accuracy of both the R1200 standard version and the CR version is ± 0.035 mm, and the long arm model sacrifices accuracy for coverage range; The third is the CR version, which sacrifices IP54 and Class 5 cleanliness by shrinking the Z-stroke from 450 mm to 390 mm and reducing the maximum inertia of the flange from 1 kgm ² to 0.5 kgm ².

The A3 axis allows a process force of 250 N as standard across the entire range - pressing, testing, and other processes can be directly undertaken by A3.

Load and flange design

Rated at 10 kg, maximum at 20 kg. Designed for a rated load of 10 kg to optimize dynamic performance; Under the premise of reducing the distance between the center of gravity of the load, it is allowed to use a maximum load of 20 kg, which needs to be confirmed with KUKA support. The maximum value of additional load on the arm is 0 kg, but the support frame under the arm can bear supplementary load - visual cameras and other equipment are mounted on the support frame under the arm without the flange end, which is different from the KR 13 series' "2 kg under the arm" regulation. The additional load column in this data sheet is 0, and the specific load-bearing capacity of the support frame needs to be confirmed with KUKA according to the diagram. The load inertia must be verified using KUKA. Load and input into the controller, with the center of gravity offset minimized as much as possible to suppress vibration.

The flange is self-made by the user (not included in the supply scope), and the flange load is given according to the rated load without a safety factor. During operation, the load continues to appear in the normal trajectory, and the tool is checked for fatigue strength; Emergency stop values rarely occur, static strength verification is sufficient. Insufficient tool design can lead to fracture and failure, and it is necessary to calculate and use the prescribed installation equipment on a case by case basis according to the load.