KUKA KR 23 SCARA-2 Robot Installation and Maintenance Detailed Explanation

KUKA KR 23 SCARA-2 Robot Installation and Maintenance Detailed Explanation

Product family: 23 kilogram platform with nine model matrices

KUKA KR 23 SCARA-2 CS is a family of four axis articulated arm (SCARA) robots designed for tool and fixture handling, component processing, and transportation applications. It consists of nine models that form a complete matrix of three levels of arm extension (R800/R1000/R1200) and three levels of vertical travel (Z200/Z450/Z390 CR): the standard version six (R800 Z200/Z450, R1000 Z200/Z450, R1200 Z200/Z450) and the CR cleanroom version three (R800/R1000/R1200 Z390-2 CS CR). The controller is KR CS Box-2, the teaching pendant is smartPAD touch, and the system software is KUKA. ControlStudio.

Compared with the previously released KR 20 SCARA CS, this series has increased the maximum load from 20 kg to 23 kg, and the standard version has restored the additional load on the arm to 2 kg (KR 20 series is 0 kg). Camera, valve island and other equipment can be reinstalled on the lower arm support frame - this is the most direct difference in system architecture between the two generations of products.

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 motor, driven by A2 motor, positive and negative swing angles are mechanically limited by overtravel protection device, with supplementary load interface on the arm), ball screw spline, connecting rod arm (Link arm, located between the arm body and the base, with the same mechanical limit on swing angle), base frame (fixed to the installation base, carrying electrical devices and motor/data cables, energy supply system interfaces) and electrical devices (protection circuit, A1-A4 motors and data cables, I/O cables, trachea, Ethernet cables, controller connection cables).

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 such applications require consultation with KUKA services. Robots can only operate in systems that meet CE requirements. This machine is a partially completed machine (Appendix II B of 2006/42/EC), and the integrator must issue an EC conformity declaration and affix the CE mark for the complete system.

Horizontal comparison of nine model parameters

Parameter item R800 series R1000 series R1200 series

Rated/maximum load 10/23 kg 10/23 kg 10/23 kg

Repetition accuracy XY/Z/R ± 0.025/± 0.01/± 0.01 ° is the same as left ± 0.035/± 0.01/± 0.01 °

Self weight (Z200) 58.4 kg 59.9 kg 61.7 kg

Self weight (Z450) 59.1 kg 60.6 kg 62.4 kg

Self weight (Z390 CR) 60.9 kg 62.4 kg 64.2 kg

A1 speed 350 °/s 270 °/s 245 °/s

A2 speed 475 °/s 450 °/s 390 °/s

A3/A4 Speed 0.91 m/s/1400 °/s Same Left Same Left

Cycle time Z200 0.46 s 0.48 s 0.50 s

Cycle time Z450 0.46 s 0.48 s 0.50 s

Cycle time Z390 CR 0.48 s 0.50 s 0.52 s

Protection level IP20 (CR version IP54) Same as Left Same as Left

Common parameters: A1/A2 stroke ± 140 °, A4 stroke ± 360 °, A3 stroke Z200 is -200 mm to 0, Z450 is -450 mm to 0, CR version is -390 mm to 0; The zero calibration positions of all four axes are 0; Ground installation, occupying an area of 230 × 235 mm; noise level<80 dB (A); 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.

The A3 axis allows a process force of 250 N as standard across the entire series, and the pressing and testing processes can be directly undertaken by A3. The maximum mass inertia Iz of all models of flanges is 1 kgm ², with a rated value of 0.05 kgm ² - double the upper limit of 0.5 kgm ² for the KR 20 CR version, providing greater design freedom for load inertia.

Load planning and flange load

Rated at 10 kg and maximum at 23 kg, the rated value is optimized based on dynamic performance. When the load center of gravity distance is reduced, 23 kg is allowed to be used, which needs to be confirmed with KUKA support. The maximum additional load on the arm is 2 kg, and it is installed on the support frame under the arm. When installing, be careful not to exceed the maximum load. The load inertia must be verified using KUKA. Load and input into the controller - the controller takes into account the load in trajectory planning, and reducing the load does not necessarily result in lower flange force; The offset of the center of gravity relative to the flange should be minimized as much as possible to suppress vibration. The flange is self-made by the user (not included in the supply scope), with a 1 mm flat cut positioning hole and a maximum outer diameter of Ø 12.

Flange load (under rated load, without safety factor):

Operating condition R800 R1000 R1200