KUKA KR 20 SCARA CS Robot Selection and Maintenance Guide

A3/A4 (labeled A4 first and A3 later): Dev. KR20 CS A3A4 mastering (0000-435-989) is used for the standard version, and dedicated tooling (0000-438-020) is used for the CR version. Process: Tighten the calibration pin to the lower cover of the central arm → Install the calibration kit at the lower end of the screw → Rotate and align the threaded hole and insert the positioning screw → Move A3 to make the groove on the L-shaped bracket seamlessly contact the calibration pin → Rotate A4 to make the notch of the calibration bracket fit the calibration pin → Set Current to set A4 zero point. Alternative method without tooling: The standard version sets the A4 zero point by aligning the calibration mark of the lower limit block of the lead screw with the mark on the lower cover of the central arm (when there is no mark, mark the line by aligning the center of the rectangle at the lower end of the lead screw with the groove on the lower cover); Subsequently, A3 is moved to the upper limit position → A4 returns to zero → A3 is moved down 19 mm and set as A3 zero point - this 19 mm offset is the core data without tooling calibration and must be executed accurately. The conclusion is to conduct a trial run in T1 mode and observe any abnormalities.

Early wear warning and retirement disposal

During the planning phase, five types of accelerated wear conditions must be evaluated: temperature limit or corrosive environment continuous operation, performance limit continuous operation, single axis high load rate, monotonic motion trajectory, external process force - any of which must be consulted with KUKA. The built-in monitoring automatically shuts down when reaching or approaching the operating limit. Quantitative red line: The temperature of each axis motor should not exceed 368 K (+95 ° C). Long term overheating directly shortens the lifespan of the robotic arm. It is recommended to include it in the equipment health dashboard through ControlStudio trend monitoring.

Retirement process: Adjust to transport position → Remove all peripherals and motor/data cables → Release grounding conductor → Remove 4 M12/M14 bolts and washers → Carefully lift off the installation surface. Attention: When the robotic arm is stuck on the installation surface, it may suddenly detach, and the fasteners and adhesives must be completely removed. Eight requirements for long-term storage: dry and dustproof, avoid temperature fluctuations, prevent wind from passing through and condensing, use environmentally resistant coverings, leave no loose parts, avoid direct sunlight, and comply with storage temperature; Wrap with plastic film and seal at the base, and add desiccant under the film if necessary. Scrap classification: The base/arm/connecting rod arm is made of cast aluminum, the reducer/screw spline/fastener is made of steel, the electronic components are treated as electronic waste and cannot be disassembled, and the motor is disposed of as a whole; Lubricant Accessories Archive: Harmonic Drive 4B No.2 and Sumiplex SFB No.1 (gearbox), THK AFB-LF (lead screw), Microlube GL 261 (motor), Optitemp RB2 (cable), Drei Bond 1342/1305/5204HV and Sikaflex-221, LOCTITE 510 (adhesive seal).