KUKA LBR iiwa CR Operations and Troubleshooting

Tightening torque and maintenance precautions

The general tightening torque is applicable to screws and nuts that are not specifically specified, and the values are for light oil black or coated screws. Commonly used 8.8 levels: M8 about 23 Nm, M10 about 45 Nm, M12 about 78 Nm, M14 about 125 Nm, M16 about 195 Nm. The torque of 10.9 and 12.9 levels is higher. There are dedicated tables for hexagon socket screws ISO 7991, half round heads, etc. M5 cap nut is approximately 4.2 Nm. Screws of grade 10.9 or above or with test certification can only be tightened once with the rated torque; Once released, new parts must be replaced.

During maintenance, if the robot is still able to move, it must be fixed by emergency stop. If it is necessary to work in the controller on state, only T1 mode can be used, and additional safety measures should be taken. After maintenance or repair, it is necessary to check the safety level and test all safety functions. New or modified programs should be tested under T1 first. When there is a malfunction, turn off the controller and lock and tag it, record the fault, troubleshoot and perform functional testing. If the safety function or protective device is disabled, it must be restored immediately after the work is completed.

Engineer Inspection Checklist

Is the transportation location correct?

Has the positioning pin, 4 bolts, torque, and 100 hour re tightening been completed?

Is the exhaust duct connected and is the fan running at 2200 rpm?

Is the mapping of EL6695, EM8905-1002, EK1100, and SYS-X44 correct in WorkVisual?

Does Out7. Output and In1. Input correspond to fan startup and speed measurement?

Does the backend task periodically monitor the speed and output faults?

Is the emergency stop, enable, safe operation, and external emergency stop functioning properly?

Is the braking test performed daily, and is the stopping distance checked annually?

Cable bending radius, stress EMC、 Is the grounding compliant?

Does the coordinate display consider a base ring of+35 mm?

Have maintenance schedules, cleaning standards, and fan replacement cycles been implemented?

Does the shutdown storage meet the requirements of dryness, dust-free, and non condensing?