KUKA KR 20 SCARA CS Robot Selection and Maintenance Guide

Foundation load - structural input for ground installation

Load item R800 R1000 R1200 R1200 CR

F (v) Normal/Maximum 1113/1066 N 1127/1081 N 1151/1104 N 1238/1024 N

F (h) Normal/Maximum 1452/1610 N 1203/1268 N 1102/104 N 1056/1195 N

M (k) Normal/Maximum 849/864 Nm 816/783 Nm 840/909 Nm 823/897 Nm

M ®  Normal/Maximum 345/749 Nm 373/706 Nm 357/738 Nm 370/756 Nm

The load and self weight inertia force are already included, and the foundation is checked according to the maximum value. The pattern of this series is that the "maximum value" of the torque term is significantly higher than the "normal value" (such as the M value of R800) ® The maximum torque of 749 Nm compared to normal 345 Nm indicates that the peak torque of SCARA high-speed rotation around A1 under a specific trajectory is much higher than the typical average - the frame anti torsion design must be executed according to the maximum value and cannot be applied across models: the R800 has a maximum horizontal force of 1610 N, which is the highest in the entire family, and the R1200 CR has a normal vertical force of 1238 N, which is the highest in the entire family.

Stop distance - direct input for safety fence design

According to Appendix B of DIN EN ISO 10218-1 (Extension l=100%, Project Velocity=100%), under STOP 0 rated/maximum load:

Model A1 A2 A3

R800 Z450 110.85°/0.68 s · 102.28°/0.70 s 124.92°/0.54 s · 115.87°/0.64 s 79.06/88.63 mm

R1000 Z450 100.75°/0.75 s · 90.56°/0.83 s 101.53°/0.48 s · 86.96°/0.96 s 75.89/78 mm

R1200 Z450 109.96°/0.87 s · 120.34°/1.01 s 70.9°/0.50 s · 57.57°/0.49 s 79.82/84.90 mm

R1200 Z390 CR 126.08°/0.98 s · 138.29°/1.33 s 61.09°/0.42 s · 53.04°/0.48 s 59.61/55.16 mm

There are three key findings: firstly, the CR version A1 axis STOP 0 has a maximum load stopping distance of 138.29 ° and a time of 1.33 seconds, which is the longest in the entire family - the cleanroom version protective fence design must not use standard version data; Secondly, the "rated vs maximum load" data directions of A1 and A2 are inconsistent (some have longer maximum load stopping distances, while others have shorter ones). Due to the coupling relationship between braking torque and inertia, fence design must take the maximum value for each operating condition; Thirdly, the STOP 1 data is about half of STOP 0 (such as R800 A1 rated at 62.86 ° to 110.85 °), and applications with safety gate circuits prioritize configuring Stop 1 to significantly compress the safety distance. 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.

Security protection boundary: The controller directly supports the safety door sensor, while other devices such as light curtains and presence sensors are not directly supported. If they need to be used, a risk assessment and certification scheme must be completed by oneself.

Installation foundation and interface system

Installation foundation (to be provided by the user): 4 M12 or M14 bolts are tightened, and the 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 maximum horizontal deviation of the base is 5 °, and 2 positioning pins are used for positioning. The robotic arm is slowly lowered vertically (tilting will damage the positioning pins) and tightened diagonally in steps. The iron law remains unchanged: 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.

Interface system: A1 interface (back of base) includes user connector X40 (I/O), X74 (8-pin M12 X-code Ethernet), three-way air source AIR 1/2/3 (Ø 6/Ø 8 air tube, maximum 0.7 MPa, vacuum to -0.095 MPa), X30 motor cable, X31 data cable and grounding connection. The A2 interface (on the central arm) includes a brake release button, X94 Ethernet extension, X41 I/O extension, air circuit adapter, and motor operation indicator light. A wiring space of at least 200mm must be reserved behind the A1 interface. User cable discipline: It is strictly prohibited to tie cables to corrugated pipes, highly flexible shielded cables must be used, and the stress state and working space must be confirmed after installation without restrictions; The central arm reserves a user cable support interface, and the base can borrow some bolt holes.

Cable system: motor cable X30 and data cable X31, standard version uses WEIPU WS series, CR version uses WEIPU WF series; Length standard 5 m, optional 10 m; fixed laying bending radius motor cable not less than 55 mm, data cable not less than 45 mm; operating temperature -30 ° C to+80 ° C; motor and data cable laid in metal slots and strengthened EMC; The grounding conductor must be equipped with M4 ring terminal according to DIN EN 60204 and connected to the base frame by the user.

Manual movement and transportation

Manual dual path movement: A1/A2 axis activates Servo Free mode through ControlStudio and enables corresponding axis in the software, slowly moving by hand push; A3/A4 axis press and hold the arm brake release button to release. Key warning: When the button is pressed, the load may fall and must be held by hand.