Troubleshooting KUKA SCARA X

Emergency stop, enable switch, safety door, and external safety stop must remain effective. If the smartPAD touch is disconnected, its emergency stop device will fail, posing a risk of confusion between connected and disconnected devices. After disconnection, it must be immediately removed from the system and stored outside the line of sight and reach of personnel. The enable switch must undergo functional testing at least once every 12 months, and in specific circumstances, it must also be tested. The default password must be changed before being put into operation, and only authorized personnel should be informed.

External forces such as impact or collision may cause subtle damage, such as slow loss of motor power transmission, leading to accidental movement. It is necessary to check for dents, paint wear, and especially carefully inspect the motor and balance cylinder. If there is damage, the components must be replaced. The grounding wire and potential balancing wire must have sufficient rated value and be correctly connected, and the connecting cable must be correctly connected and locked.

Installation, transportation, and foundation

When transporting the robotic arm, it is necessary to follow the prescribed transport posture to avoid vibration and collision. It can be transported by forklift or manually. Before transportation, it should be confirmed that the robotic arm is in a stable posture and that the connecting cables and accessories will not interfere. When installing, first install the foundation fixing device, then install the mechanical arm, connect the connecting cable, and finally finish.

The foundation load varies depending on the model. For example, when the KR 6 R500 Z200 X is installed on the ground, the normal vertical force is about 282 N, with a maximum of 367 N; the normal horizontal force is about 581 N, with a maximum of 586 N; the normal tilt torque is about 190 Nm, with a maximum of 194 Nm; the normal shaft 1 torque is about 96 Nm, with a maximum of 126 Nm. The KR 6 R600 Z200 X has a normal vertical force of about 291 N, with a maximum of 376 N; a normal horizontal force of about 531 N, with a maximum of 538 N; a normal tilt torque of about 196 Nm, with a maximum of 200 Nm; and a normal shaft 1 torque of about 103 Nm, with a maximum of 122 Nm. 216 Nm; the normal torque of shaft 1 is about 108 Nm, with a maximum of 126 Nm. The KR 10 R600 Z300 X has a normal vertical force of about 419 N, with a maximum of 462 N; a normal horizontal force of about 863 N, with a maximum of 867 N; a normal tilt torque of about 289 Nm, with a maximum of 298 Nm; and a normal torque of about 237 Nm for shaft 1 Nm， Maximum 294 Nm. When determining the size of the foundation, the maximum load must be followed and not just the rated value.

The connecting cables include motor cables, data cables, and grounding wires. Motor cables and data cables should be laid separately to avoid interference. The grounding wire must be reliably connected. The installation of user cables should be carried out according to the interface definition to avoid communication abnormalities or safety circuit failures caused by incorrect wiring. The controller and robotic arm must be matched, and the robotic arm cannot be connected to another mismatched controller.

Load, flange, and stopping distance

In terms of load, the center of gravity of all loads is related to the distance between the flange surface of axis 4. The load diagram shows the allowable loads for different Lxy and Lz. The rated load of KR 6 series is 3 kg, with a maximum of 6 kg; the rated load of KR 10 series is 5 kg, with a maximum of 10 kg. The maximum mass moment of inertia of flange Iz is 0.12 kgm ² for KR 6 and 0.3 kgm ² for KR 10; Rated mass moment of inertia: KR 6 is 0.01 kgm ², KR 10 is 0.02 kgm ². Exceeding the maximum load capacity will reduce the lifespan of the robotic arm and overload the motor and gears. Each time, it is necessary to check the load capacity and mass moment of inertia values, and ensure that the load data has been input into the robot controller. To reduce vibration, the center of gravity shift should be minimized as much as possible when installing end loads.

In terms of flange load, there are clear limitations on axial force, radial force, tilt moment, and torque during operation and emergency stop. Tool design errors may lead to breakage and loss of function, and it is necessary to calculate the tool for each individual situation based on load data and use the prescribed installation equipment. Additional loads can be installed on the support below the forearm, but attention must be paid to the maximum load; Increasing additional load may lower the tempo.

The stopping distance and stopping time are given by model. Stop category 0, immediately turn off the drive and apply the brake; Stop category 1 is to stop along the original path at the shortest distance, then disable the drive and activate short-circuit braking and motor braking; Stop category 2: Drive does not turn off, brake does not brake, brake along the trajectory slope. The triggering of safety stop includes emergency stop, safety input, control failure, violation of work area, and programming trigger. The stopping distance is part of the danger zone and must be included in the safety protection design.