KUKA LBR iico Robot Installation and Debugging Technical Guide

LBR iico 7 R900.A1 stopping angle 17.13 °, A2 14.02 °, A3 12.32 °; stopping time approximately 0.13-0.14 seconds

LBR iico 12 R1260: A1 8.92 °, A2 11.90 °, A3 11.08 °; stop time approximately 0.16s

LBR iico 16 R1000：A1 14.09°，A2 13.30°，A3 10.42°

6.2 STOP 1 (Controllable Stop)

STOP 1 is to slow down first and then cut off the driving power, and the stopping distance varies with the load, speed, and position. The manual provides detailed curve graphs of various models A1~A3 under different conditions (with/without load, different load masses).

In practical applications, multi axis composite motion can cause longer stopping distances, and it is necessary to conduct actual testing and verification. The trajectory recording function of the system software can be used to measure the angle difference from the trigger point to complete stop.

Transportation and positioning

7.1 Transportation posture

Before transportation, the robot must be moved to the designated transportation position: A1=0 °, A2=-115 °, A3=115 °, A4=0 °, A5=75 °, A6=0 °. In this posture, the robot has the lowest center of gravity and the best stability. The center of gravity position of different models varies in transportation posture, and it is necessary to refer to the center of gravity coordinate table in the instruction manual to select the appropriate lifting point.

7.2 Transportation precautions

Only use approved lifting equipment with sufficient load-bearing capacity.

Avoid vibration and impact during transportation to prevent damage to the robot.

Remove all transportation fixtures (nails, screws, etc.) before handling, and remove rust or adhesive on the contact surfaces.

If using slings/lifting devices for transportation, care should be taken to prevent tipping, and additional fixing measures should be added if necessary. It is strictly prohibited to use the crane for handling in any other way.

Maintenance cycle and key points

The LBR iico series robots are designed to be maintenance free, but still require regular inspections:

Periodic tasks

Check the tightening torque of fastening screws/nuts 100 hours (once only) after startup/re debugging

Clean the outer surface of the robot every 1000 hours or no later than 3 years

Thoroughly clean every 2 years

If the operating conditions of the robot deviate from the specified working conditions in the technical data (such as continuous high temperature, high abrasive environment, near performance limit operation, high load cycle, etc.), the maintenance interval must be shortened or the components must be replaced in advance. For robots equipped with KUKA energy supply system, additional maintenance work is required. Only KUKA approved auxiliary materials and consumables are allowed to be used, unauthorized consumables may cause premature wear and failure of components.

Debugging process and software configuration

9.1 Pre commissioning inspection

Confirm that the robot is correctly installed and tightened according to the document requirements.

Check for non visible damage caused by external forces (such as dents, paint wear), paying special attention to the inspection of the motor and balance system (internal motors are checked through operation).

Confirm that all safety devices are correctly installed and functioning properly.

Confirm that the rated value of the power supply matches the on-site power supply, and that the grounding conductor and equipotential connection cable are sufficient and connected correctly.

Confirm that the connecting cable is properly connected and locked.

9.2 Tilt angle configuration

If the robot is not installed on the ground (wall, ceiling, or any angle), the tilt angle must be correctly input through the system software in the controller. Angle naming: A (rotation around Z axis), B (rotation around Y axis), C (rotation around X axis). Typical configuration: Ground (0,0,0), Wall (0,90,0), Ceiling (0,0180). Entering an incorrect tilt angle can result in unforeseeable motion or overload, and must be checked and confirmed item by item.

9.3 Load data input

The load data of the robot (mass, center of gravity position, moment of inertia) must be verified and entered into the controller through the KUKA Load tool. The rated load is designed to optimize dynamic performance, and the maximum load is only applicable when the center of gravity position is 0mm. Specific load conditions must be verified using KUKA Load. Incorrect input of load data can shorten the service life of robots and overload motors and gears.