KUKA KR SCARA HO Assembly and Maintenance

In terms of basic load, when installing KR 6 on the ground, the normal vertical force is about 319 N, with a maximum of 562 N, the normal horizontal force is about 497 N, with a maximum of 586 N, the normal overturning moment is about 214 Nm, with a maximum of 314 Nm, and the normal torque around A1 is about 143 Nm, with a maximum of 284 Nm. KR 13 has a normal vertical force of about 650 N, with a maximum of 1000 N, a normal horizontal force of about 1250 N, with a maximum of 1650 N, a normal overturning moment of about 650 Nm, with a maximum of 650 Nm, and a normal torque around A1 of about 350 Nm, with a maximum of 580 Nm. When designing and installing the foundation, sufficient safety margin must be left.

Installation base and mechanical installation

The installation base must be prepared by the user, usually using a steel structure with a minimum installation surface thickness of 16 mm and a maximum allowable deviation of 0.4 mm in flatness. KR 6 uses 4 M8 screws, and KR 13 uses 4 M12 screws. Before installation, it should be confirmed that the robot is in the transport position, the foundation surface is flat, the connecting cables and ground wires have been arranged near the robot, and forklifts or lifting equipment can freely approach.

The installation steps include: determining the base position according to the work envelope; Place the base on the base and check for levelness, with a maximum allowable deviation of 5 °; Insert the positioning pin and confirm its firmness; Use lifting equipment to vertically lower the robot onto the base to avoid tilting and damaging the positioning pin; Insert washers and screws; Tighten diagonally. KR 6 uses M8 screws, KR 13 uses M12 screws. Screws with a strength grade of 10.9 or above, stainless steel grade 70 or 80 screws, and screws with testing certification can usually only be tightened once to the rated torque, and should be replaced after loosening.

Connecting cables, air interfaces, and interface layout

The connecting cables include motor cables, data cables, and grounding conductors. The motor cable corresponds to controller side XD20.1/XD20.2 and mechanical arm side X30; The data cable corresponds to XF21 to X31; The grounding conductor is connected through M4 ring cable terminals with a standard torque of approximately 2.8 Nm. The grounding conductor is not within the standard supply range and can be ordered as an option, but must be connected by the customer to ensure a low resistance connection between the robotic arm and the control cabinet. The equipotential connection should be checked according to VDE 0100 and EN 60204-1.

When wiring, the bending radius of fixed motor cables should not be less than 55 mm, and the bending radius of data cables should not be less than 45 mm. Cables should avoid mechanical stress, and connectors should not be subjected to tension. The cable must be installed indoors, with a fixed installation temperature range of about -30 ° C to+80 ° C. The motor cable and data cable should be laid separately in metal cable trays and EMC measures should be taken. It is recommended to reserve at least 200mm of space behind the A1 interface.

In terms of air interface, KR 6 provides AIR1, AIR2, AIR3, and AIR4; KR 13 provides AIR1, AIR2, and AIR3. The maximum pressure is 0.7 MPa (7 bar), and the vacuum is atmospheric pressure minus 0.095 MPa (0.95 bar). AIR0 can be used for continuous air extraction in HO models, forming a negative pressure environment with good sealing to reduce dust leakage. The recommended air flow rate is about 70 L/min, with an outer diameter of Ø 12 mm and an inner diameter of Ø 8 mm. If the suction is insufficient or the seal is damaged, insufficient negative pressure can lead to a decrease in cleaning performance or even failure.

The A1 interface is located behind the base and includes user connector X40, Ethernet X74, MEMD X32, data cable X31, motor cable X30, grounding M4 stud, additional shaft XP5.1, and air interface. The A2 interface is located on the arm and includes a motor indicator light, user connector X41, Ethernet X94, air interface, and brake release button. The A2 interface of KR 13 also includes X94 and X41. Correctly identifying interfaces can reduce wiring errors.

Transportation and Handling

The robot must be placed in the transport position before transportation. The transportation positions of KR 6 are A1 0 °, A2-140 °, A3 0 mm, A4 0 °; KR 13 is A1-90 °, A2-90 °, A3-100 mm, A4 0 °. Vibration and impact must be avoided during transportation, and the robot should maintain its transportation position until it is fixed.

KR 6 can be carried by two people and must be properly secured, slowly moved, and equipped with protective gear. KR 13 recommends using forklifts or lifting equipment. Three transport devices, three M10 rotating lifting rings, transport connecting plates, lifting ropes with sufficient load-bearing capacity, and a crane are required for lifting. The length of the sling should be greater than 1000 mm. The transportation device should be installed using M6x25-12.9 screws with a torque of 9.5 Nm; M5x25-12.9 screws with a torque of 5.6 Nm; M10 lifting rings with a torque of 45 Nm. Do not stand under the robotic arm.