KUKA KR12 SCARA Operations Essentials

Security integration and personnel protection

KR 12 SCARA belongs to partially complete machinery and must be integrated into a complete system before it can be put into operation. The system integrator is responsible for installation, connection, risk assessment, implementation of safety functions and protective devices, issuance of EC conformity declaration, affixing CE mark, and production of system operation instructions. The robot control cabinet has CE markings that comply with EMC and low-voltage directives. The workspace must be limited to the necessary minimum range, and hazardous areas including the workspace and stopping distance must be physically isolated. The control cabinet supports safety door sensors. If light curtains or sensors are used, a separate risk assessment and certification must be conducted. Mechanical terminal stops are used to limit the range of the axis. After a collision, the robot may not be able to operate safely and must be stopped and consulted with KUKA.

The safety mode includes T1 manual deceleration mode (≤ 250 mm/s) and T2 manual high-speed mode (allows>250 mm/s). T1 is used for jogging, teaching, programming, and program verification; T2 is only allowed to be used when testing at speeds higher than T1, and teaching and programming are not allowed. Automatic mode requires all safety devices to be complete and effective, with no one in the system or meeting EN ISO 10218 collaboration requirements, and clear workflow. If the robotic arm stops without reason, an emergency stop must be triggered before entering the danger zone. During maintenance and repair, it is advisable to work outside the danger zone as much as possible; If it is necessary to be within the danger zone, additional safety measures must be defined. Turn off the robot and lock it to prevent accidental restarts. If it is necessary to work while the control cabinet is connected, only T1 mode is allowed. The homework label must be retained, and the emergency stop device must be effective. Before working on live parts, the main switch must be turned off and the electricity must be tested, and emergency or safety stops cannot be triggered alone. After the control cabinet is turned off, some components may still carry a voltage of 50 V to 780 V for several minutes, and must wait and comply with ESD regulations. Dangerous substances should be avoided from long-term skin contact and inhalation of oil mist, and safety data sheets should be requested regularly.

Transportation and lifting

Before transportation, the robot must be placed in the transport position: A1-90 °, A2-90 °, A3-100 mm, A4 0 °. The robot must maintain the transport position until it is secured. Before transportation, obstacles should be removed, transportation fasteners should be dismantled, and contact surface rust and adhesives should be removed. Avoid vibration and impact during transportation. Forklifts can be used to transport the original packaging boxes, or lifting devices can be used. The lifting device needs to have sufficient load-bearing capacity and a rope length greater than 1500 mm. When installing transportation equipment, use M6x25-12.9 screws with a torque of about 9.5 Nm, M5x25-12.9 screws with a torque of about 5.6 Nm, and M10x17 eyebolts with a torque of about 45 Nm. The rope must be threaded in the specified way, and standing under the robot is prohibited. It is also forbidden to use a crane to lift in other ways. During transportation, the robot may overturn and additional anti tipping measures must be taken.

Start, connect cables and interfaces

Before starting, the robot should be checked for completeness, no external damage, no loose parts, complete safety devices, power matching, correct grounding and equipotential connections, and locked connection cables. The default password for system software must be changed before startup, and only authorized personnel should be notified. The connecting cables include motor cables XD20.1/XD20.2-X30, data cables XF21-X31, and optional grounding wires. The standard length can be selected from 5 m, 10 m, 15 m, and 25 m. When fixed installation, the bending radius of motor cables should not be less than 55 mm, and the bending radius of data cables should not be less than 45 mm. The cables should avoid mechanical stress, and the connectors should not be subjected to tension, only for indoor installation. The fixed installation temperature range is -30 to+80 ° C. Motor cables and data cables should be laid separately in metal cable trays and EMC measures should be taken. A space of at least 200mm should be reserved behind the A1 interface.

The A1 interface is located at the rear of the base, including user connectors X40 and X74, air interfaces AIR1 to AIR3, maximum pressure of 0.7 MPa, vacuum negative pressure of 0.95 bar, MEMD, motor cable X30, data cable X31, additional shaft XP5.1, and grounding terminal. The A2 interface is located on the arm and includes a brake release button, user connector X94, air interface, X41, and motor indicator light. The user connector is a 15 pin D-sub, which can be used for I/O expansion. User cables should not be tied to corrugated pipes, high flexibility cables should be used, signal lines should be shielded, and the entire system should be well grounded. After installation, the stress and working status of cables, corrugated pipes, and other components should be confirmed, and the current working space of the robot should be confirmed.