KUKA KR SCARA HO Assembly and Maintenance

KUKA KR SCARA HO Assembly, Debugging, and Maintenance Practical Guide

KUKA KR SCARA HO is a four axis SCARA robot series designed for sanitary applications, mainly consisting of two models: KR 6 R700 Z170 HO and KR 13 R850 Z340 HO. They are commonly used in tool handling, fixture operation, parts assembly, secondary food packaging, and general industrial handling scenarios. HO stands for Sanitary Oil, suitable for environments such as the secondary food industry that require lubrication and hygiene. This series is usually paired with the KR C5 micro-2 or KR C5 micro controller, and consists of a robotic arm, controller, connecting cable KUKA smartPAD-2、 Software, options, and accessories constitute a complete robot system.

For engineers, what truly affects equipment lifespan and production line stability is often not a single parameter, but rather whether installation, safety integration, cable layout, brake release, maintenance cycles, and troubleshooting are in place. Below, from the perspective of engineering implementation, the assembly, debugging, maintenance, and common problem handling points of KUKA KR SCARA HO are systematically organized.

Security compliance is a prerequisite for integration

KUKA KR SCARA HO is a partially completed machinery that must be integrated into a complete system and meet the EU Machinery Directive and local regulations before it can be put into operation. The system integrator needs to complete risk assessment, implementation of safety functions, installation of safety protection devices, issuance of EC conformity declaration, and CE marking. If the safety function is removed or disabled, it is prohibited to operate the robot.

The danger zone is composed of both the workspace and the stopping distance. The stopping distance is equal to the reaction distance plus the braking distance, and is part of the danger zone. The document provides the stopping distance and time for STOP 0 and STOP 1, which are used for the layout of safety fences, safety gates, and light barriers. The safety protection device must be located outside the danger zone, and during the stopping process, the robotic arm will still move within the danger zone, so the fence cannot be installed directly against the theoretical working boundary.

Special attention should be paid to safety warnings: Do not stand under the robot arm; The motor and brake will generate electromagnetic fields, and the wearer of implantable medical devices should maintain a distance of at least 300 mm from the motor and brake; After the motor runs, the temperature may be high, which may cause burns. Protective gloves should be worn; External keyboards and mice can only be used for debugging or maintenance, with the drive turned off and no one in the danger zone, and must be removed after use. After modifying the robot, program, or external axis, it must be tested in T1 mode first. T1 is in manual deceleration mode, with a speed not exceeding 250 mm/s; T2 is a manual high-speed mode, only used for specific testing and not allowed to be used in teaching and programming.

Technical data and selection comparison

KR 6 R700 Z170 HO and KR 13 R850 Z340 HO are both four axis robots, installed on the ground with a protection level of IP54. The positioning of the two is different, and when selecting, the focus should be on comparing the load, arm span, repeatability, and weight.

Project KR 6 R700 Z170 HO KR 13 R850 Z340 HO

Axis number 4 4

Rated load 3 kg 6 kg

Maximum load 6 kg 13 kg

Maximum arm span 700 mm 850 mm

Weight approximately 22 kg, approximately 55 kg

Repetitive accuracy XY ± 0.02 mm ± 0.025 mm

Repetitive accuracy Z ± 0.01 mm ± 0.01 mm

Repetitive accuracy R ± 0.01 °± 0.01 °

Work envelope volume 0.203 m ³ 0.674 m ³

Noise<75 dB (A)<80 dB (A)

Controller KR C5 micro-2/KR C5 micro KR C5 micro-2/KR C5 micro

The axis motion range of KR 6 is A1 ± 132 °, A2 ± 145 °, A3-170 mm to 0 mm, A4 ± 355 °; The speed under rated load is approximately 420 °/s for A1, 720 °/s for A2, 0.95 m/s for A3, and 2000 °/s for A4. The A2 speed of KR 13 is approximately 645 °/s, 1.1 m/s for A3, and 2700 °/s for A4. The load diagram shows that the larger the load, the smaller the allowable distance between the center of gravity of the load. KR 6 has a rated load of 3 kg, with a maximum of 6 kg; KR 13 has a rated load of 6 kg, with a maximum of 13 kg. If the load center of gravity deviates significantly, the mass moment of inertia must be recalculated, otherwise it will accelerate the wear of the motor and gearbox, and even cause vibration and positioning abnormalities.

In terms of flange load, KR 6 has axial force F (a) of about 116 N, radial force F (r) of about 203 N, overturning moment M (k) of about 24 Nm, and flange torque M (g) of about 5 Nm during operation; F (a) of about 309 N, F (r) of about 297 N, M (k) of about 20 Nm, and M (g) of about 12 Nm during emergency stop. KR 13 has F (a) of about 150 N, F (r) of about 600 N, M (k) of about 30 Nm, and M (g) of about 25 Nm during operation; F (a) of about 500 N, F (r) of about 600 N, M (k) of about 30 Nm, and M (g) of about 25 Nm during emergency stop. g) About 40 Nm. The tool design must be able to withstand these loads for a long time.