KUKA LBR iisy 3 R760 Collaborative Robot Debugging Guide

Control measurement: Start the robot and move A5 back and forth about 20 ° twice. Move the robot to the measurement position (with tools: arm level and A4 within ± 90 °; Can be placed anywhere without tools). Measure the frequency at the center of the upper and lower sides of the toothed belt, calculate the average value, and compare it with 155 ± 5 Hz. If it does not meet the standard, repeat the adjustment.

Install cover plate: Position the cover plate and secure it with one M3 × 6-10.9 TORX screw.

Conclusion: Perform zero calibration for A5 and A6 (see system software documentation), and conduct a trial run in T1 mode to check for abnormalities.

Shell replacement

LBR iisy 3 R760 adopts a plastic shell, which can be replaced separately or as a set (spare SPP shell set 0000-332-499). The installation methods of different parts of the shell are different:

Rotating column housing: 1 external M3 × 6-8.8-A2K TORX screw+3 internal PT K30 × 10-10.9-A3K TORX screws

Connecting arm shell: external 2 M3 × 6-10.9-A2K TORX screws+internal 6 PT K30 × 10-10.9-A3K TORX screws

A3 axis arm shell: external 1 M3 × 6-10.9-A2K TORX screw+internal 3 PT K30 × 10-10.9-A3K TORX screws

Main body shell: including toothed belt cover plate, the cover plate needs to be removed before disassembly

Rotating shell shell: 1 M3 × 6-10.9-A2K TORX screw on the outside and 3 PT K30 × 10-10.9-A3K TORX screws on the inside

When disassembling, use a flat head screwdriver to carefully pry open the buckle connection between the upper and lower shells. Pay attention to the "click" sound when the buckle is in place during installation. All screws must be tightened to the specified torque.

Option Description

9.1 Claw and finger set (optional)

Servo electric drive 2-finger parallel gripper (Co Act ESG-C K060, approximately 0.5kg), with safety limits on the gripping force itself. Requires 24V power supply and 2 inputs/2 outputs (provided through controller XG12/XD12). When replacing, first remove the plug-in connector module on the Commander, and then remove the 4 M3 × 8-8.8 hex screws.

9.2 Output flange (optional)

When the robot is delivered without grippers, it comes standard with an ISO 9409-1-50-7-M6 output flange (approximately 0.11kg), allowing users to install custom tools. The flange is fixed with 8 M3 × 10-8.8-A2K hexagon socket screws and equipped with 2 3 × 10-A-St positioning pins. Removing the output flange can improve the distance between the payload and the center of gravity of the load.

9.3 Connector adapter X94/X96 (optional)

Used for contacting external interface A6, including Gigabit, I/O, and power connections. The cable length is 0.5m and the maximum number of insertions and removals is 50 times. During installation, the A6 cover plate needs to be removed first, and then the X94/X96 should be inserted into the adapter and fixed with 3 M3 × 8-8.8-A2K hex socket screws.

Transportation and discontinuation

10.1 Transportation posture

Before transportation, the robot must be moved to the designated transportation position: A1=0 °, A2=-115 °, A3=140 °, A4=0 °, A5=50 °, A6=0 °. The external dimensions of the transportation packaging are 800 × 600 × 620mm.

10.2 Disabling Storage

When not in use, the robot needs to be moved to the transport position, all cables disconnected, 4 M8 × 30-8.8-A2K hex bolts removed, and vertically lifted off the installation surface. The storage location should meet the following requirements: dry and dust-free, avoid temperature fluctuations, prevent condensation, and be free from direct sunlight. Wrap with plastic film and seal the base to prevent dust.