KUKA KR SCARA HO Assembly and Maintenance

After releasing the brake, the position is lost. If the brake release button or device is not recalibrated and the master is not executed again, check the zero point

Insufficient negative air pressure, AIR0 insufficient suction, damaged seal, pipeline leakage. Check the flow rate of about 70 L/min and inspect the seal and pipeline

The corrugated pipe has cracked and reached the replacement cycle. If the environment wears out, it should be replaced after 4000 hours or every year. Authorized personnel should operate it

KR 13 abnormal toothed belt reaches the replacement cycle, with a load impact of 4000 hours or annual replacement of A3/A4 toothed belt

Stop running immediately if there is an error in the collision or collision mechanical limit program, interference, or insufficient safety distance. Contact KUKA for inspection before putting it back into use

The temperature difference between the internal condensation temperature of the controller and the environment is large. Wait for temperature balance to avoid immediate start-up

After the security function was modified abnormally, all new programs were not tested or modified programs were tested under T1 first

External device interference EMC wiring is not standardized, motor cables and data cables are separated in metal cable trays, and shielding and grounding are checked

If a robot collides or impacts with external forces, even if there is no obvious damage to its appearance, there may still be invisible damage, such as gradual loss of motor power transmission. Dents, paint wear, motors, and balance systems must be inspected, and damaged components must be replaced.

End flange installation

KR 6-end flange is used for connecting tools. During installation, align the end flange hole with the spindle hole and place it on the spindle end; Insert A3A4 zero point positioning pin; Rotate the positioning pin until it cannot rotate; Insert 2 M4x12-12.9 screws; Adjust the position of the end flange to insert the positioning pin into the spindle hole; Tighten the M4 screws diagonally to 2 Nm; remove the locating pin; Tighten diagonally to 4.4 Nm. Finally, test run in T1 mode and observe any abnormalities.

KR 13 end flange is installed on the spline end of the ball screw. The steps are similar: align the end flange hole with the ball screw flower key hole; Insert positioning pin; Insert 2 M5x16-12.9 screws; Adjust the position to insert the positioning pin into the hole; Tighten diagonally to 4.5 Nm; remove the locating pin; Tighten to 9 Nm again. Test in T1 mode after completion.

Retirement, storage, and disposal

When retiring, first release and unplug all peripheral connections, unplug motor cables, data cables, and grounding conductors, remove screws and washers, carefully lift the robotic arm and transport it away. If the robot gets stuck on the installation surface, the fastening materials and adhesives should be thoroughly removed to avoid sudden detachment and injury.

Before storage, tools and equipment should be removed, the robot should be cleaned and dried, checked for foreign objects and corrosion, all cover plates should be installed and sealed, electrical connections and hose connections should be sealed, covered with plastic cloth and sealed at the base to prevent dust, and desiccants should be placed if necessary. The storage environment should be dry, dust-free, avoid temperature fluctuations, avoid direct sunlight, and maintain an allowable temperature range. When discarded, classify by material: aluminum base, arm, connecting rod; Copper cable; Steel gearbox, ball screw splines, screws; Electronic components, motors, plastics, rubber, polyurethane, cable sheaths, etc. should be treated according to regulations. Lubricating grease and adhesives should refer to the latest safety data sheet.