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

Running F (a)/F ®  597/696 N 565/694 N 514/495 N

Running M (k)/M (g) 63/13 Nm 60/13 Nm 57/13 Nm

Emergency stop F (a)/F ®  142/230 N 142/133 N 142/160 N

Emergency stop M (k)/M (g) 15/13 Nm 15/13 Nm 15/13 Nm 15/13 Nm

A significant feature of this series is that the emergency stop flange load is much lower than the operating load (such as R800 axial force emergency stop of 142 N versus 597 N), indicating that the dynamic load during the operation of this platform is mainly contributed by process force and centrifugal term. The tool can be checked according to fatigue strength, and the static strength margin is naturally sufficient.

Foundation load - structural input classified by model

Load item R800 (same as Z200/Z450) R1000 (same as Z200/Z450) R1200 (same as Z200/Z450)

F (v) Normal/Maximum 679/1178 N 695/1159 N 713/1211 N

F (h) Normal/Maximum 817/1122 N 350/1119 N 395/828 N

M (k) Normal/Maximum 410/738 Nm 320/857 Nm 408/936 Nm

M ®  Normal/Maximum 259/266 Nm 256/454 Nm 290/382 Nm

The foundation load of the CR version three is completely consistent with the standard version corresponding to the arm span. The foundation design must be checked according to the maximum value, which already includes the load and self weight inertia force. Ignoring the maximum load may cause personal injury and property damage. The pattern is opposite to that of the KR 20 series: the "maximum value" of this series is generally significantly higher than the "normal value" (such as the R1000 overturning moment being normal at 320 Nm to a maximum of 857 Nm), indicating that the dynamic peak value of SCARA high-speed rotation around A1 under a specific trajectory is much higher than the typical mean - the frame anti torsion and anchoring design must be carried out at the maximum value, and cannot be applied across arm deployment gears.

Stop distance - fence design with maximum value taken by model

According to Appendix B of DIN EN ISO 10218-1 (Extension l=100%, Project Velocity=100%), the fence design reference is based on the A1 axis of STOP 0 maximum load condition:

Model A1 STOP 0 rated/maximum load A2 STOP 0 rated/maximum load

R800 Z200 94.99°/0.48 s · 89.23°/0.57 s 134.00°/0.47 s · 116.61°/0.54 s

R800 Z450 90.36°/0.46 s · 86.60°/0.56 s 119.47°/0.43 s · 114.03°/0.53 s

R800 Z390 CR 88.28°/0.45 s · 57.82°/0.44 s 135.95°/0.49 s · 75.59°/0.42 s

R1000 Z200 87.34°/0.57 s · 80.47°/0.66 s 111.62°/0.43 s · 91.23°/0.48 s

R1000 Z450 78.88°/0.53 s · 74.08°/0.63 s 100.14°/0.40 s · 92.32°/0.50 s

R1000 Z390 CR 83.28°/0.54 s · 75.89°/0.62 s 117.35°/0.45 s · 103.28°/0.52 s

R1200 Z200 96.21°/0.70 s · 87.55°/0.79 s 69.70°/0.33 s · 58.13°/0.39 s

R1200 Z450 91.76°/0.67 s · 87.51°/0.80 s 75.23°/0.35 s · 64.19°/0.42 s

R1200 Z390 CR 98.95°/0.72 s · 93.43°/0.84 s 75.60°/0.36 s · 64.51°/0.45 s

Three fence design conclusions: Firstly, the stopping distance of A2 axis rated load exceeds that of A1 axis in some models (134.00 ° to 94.99 ° for R800 Z200 and 135.95 ° to 88.28 ° for R800 CR) - SCARA fence cannot only look at A1 axis, and must take the maximum value for each axis; Secondly, the A3 axis STOP 0 is generally only 35-42 mm (0.06 s), and the vertical safety margin is naturally sufficient; Thirdly, the maximum load stopping distance (0.63-0.80 s) of the A1 standard version of Z450 is significantly longer than that of the CR version with the same arm span. However, due to differences in speed characteristics, the safety distance of the CR version is shorter and cannot be intuitively applied. STOP 1 data is approximately 60-70% of STOP 0 (e.g. A1 for R1200 Z390 CR is 58.36 ° vs. 98.95 °), and applications with safety gate circuits should prioritize configuring Stop 1 for compressible safety distance. Stacking axis motion may 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 (user provided): 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 allowable horizontal deviation of the base is 5 °, with 2 positioning pins for positioning. The robotic arm is slowly lowered vertically (tilting will damage the positioning pins), and the corners are tightened step by step to the specified torque. 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. Re tighten once every 100 hours after startup.

A1 interface (back of base) standard layout: AIR 1/2/3 three-way air source (Ø 6mm air tube, maximum 0.7 MPa, vacuum to -0.095 MPa), user connector X40 (15 pin D-sub I/O extension), X74 (8-pin M12 X-code Ethernet extension), X30 motor cable, X31 data cable, grounding connection and battery. The CR version adds an additional AIR 0 negative pressure suction interface for clean room dust management, with slightly different interface order but consistent labeling and usage.