KR CYBERTECH nano

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KR CYBERTECH nano

Specification

Issued: 25.07.2016

Version: Spez KR CYBERTECH nano V1

KR CY- BERTECH nano

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This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH.

Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work.

We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition.

Subject to technical alterations without an effect on the function.

Translation of the original documentation KIM-PS5-DOC

Publication: Pub Spez KR CYBERTECH nano (PDF) en Book structure: Spez KR CYBERTECH nano V2.1

Version: Spez KR CYBERTECH nano V1

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1 Introduction ... 7

1.1 Industrial robot documentation ... 7

1.2 Representation of warnings and notes ... 7

2 Purpose ... 9

2.1 Target group ... 9

2.2 Intended use ... 9

3 Product description ... 11

3.1 Overview of the robot system ... 11

3.2 Description of the manipulator ... 12

4 Technical data ... 15

4.1 Technical data, overview ... 15

4.2 Technical data, KR 10 R1420 ... 16

4.2.1 Basic data, KR 10 R1420 ... 16

4.2.2 Axis data, KR 10 R1420 ... 17

4.2.3 Payloads, KR 10 R1420 ... 19

4.2.4 Loads acting on the mounting base KR 10 R1420 ... 23

4.2.5 Transport dimensions, KR 10 R1420 ... 24

4.3.1 Basic data, KR 8 R1620 ... 25

4.3.2 Axis data, KR 8 R1620 ... 26

4.3.3 Payloads, KR 8 R1620 ... 29

4.4.1 Basic data, KR 6 R1820 ... 35

4.4.2 Axis data, KR 6 R1820 ... 36

4.4.3 Payloads, KR 6 R1820 ... 39

4.5 Technical data, KR 10 R1420 HP ... 45

4.5.1 Basic data, KR 10 R1420 HP ... 45

4.5.2 Axis data, KR 10 R1420 HP ... 46

4.5.3 Payloads, KR 10 R1420 HP ... 49

4.5.4 Loads acting on the mounting base KR 10 R1420 HP ... 53

4.5.5 Transport dimensions, KR 10 R1420 HP ... 54

4.6.1 Basic data, KR 8 R1620 HP ... 55

4.6.2 Axis data, KR 8 R1620 HP ... 56

4.6.3 Payloads, KR 8 R1620 HP ... 59

4.7.1 Basic data, KR 6 R1820 HP ... 65

4.7.2 Axis data, KR 6 R1820 HP ... 66

1 Introduction

1.1 Industrial robot documentation

The industrial robot documentation consists of the following parts:

 Documentation for the manipulator

 Documentation for the robot controller

 Operating and programming instructions for the System Software

 Instructions for options and accessories

 Parts catalog on storage medium

Each of these sets of instructions is a separate document.

1.2 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions:

Notices These notices serve to make your work easier or contain references to further information.

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These warnings mean that it is certain or highly probable that death or severe injuries will occur, if no precautions are taken.

These warnings mean that death or severe injuries may occur, if no precautions are taken.

These warnings mean that minor injuries may occur, if no precautions are taken.

These warnings mean that damage to property may occur, if no precautions are taken.

These warnings contain references to safety-relevant information or general safety measures.

These warnings do not refer to individual hazards or individual pre- cautionary measures.

Procedures marked with this warning must be followed exactly.

Tip to make your work easier or reference to further information.

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2 Purpose

2.1 Target group

This documentation is aimed at users with the following knowledge and skills:

 Advanced knowledge of mechanical engineering

 Advanced knowledge of electrical and electronic systems

 Knowledge of the robot controller system

2.2 Intended use

Use The industrial robot is intended for handling tools and fixtures or for processing and transferring components or products. Use is only permitted under the specified environmental conditions.

Misuse Any use or application deviating from the intended use is deemed to be misuse and is not allowed. This includes e.g.:

 Transportation of persons and animals

 Use as a climbing aid

 Use outside the permissible operating parameters

 Use in potentially explosive environments

 Operation in underground mining

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For optimal use of our products, we recommend that our customers take part in a course of training at KUKA College. Information about the training program can be found at www.kuka.com or can be ob- tained directly from our subsidiaries.

Changing the structure of the manipulator, e.g. by drilling holes, etc., can result in damage to the components. This is considered improper use and leads to loss of guarantee and liability enti- tlements.

Deviations from the operating conditions specified in the technical data or the use of special functions or applica- tions can lead to premature wear. KUKA Roboter GmbH must be consulted.

The robot system is an integral part of a complete system and may only be operated in a CE-compliant system.

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3 Product description

3.1 Overview of the robot system

A robot system (>>> Fig. 3-1 ) comprises all the assemblies of an industrial robot, including the manipulator (mechanical system and electrical installations), control cabinet, connecting cables, end effector (tool) and other equipment. The KR CYBERTECH nano product family comprises the robot variants:

 KR 10 R1420

 KR 8 R1620

 KR 6 R1820

 KR 10 R1420 HP

 KR 8 R1620 HP

 KR 6 R1820 HP

The robot variants with the designation HP are fitted with an in-line wrist that is particularly resistant against dirt.

All robots can be operated with the

 KR C4 compact (manufacture year 2016 and onwards) or

 KR C4 smallsize-2 controller.

An industrial robot of this product family comprises the following components:

 Manipulator

 Robot controller

 Connecting cables

 KCP teach pendant (KUKA smartPAD)

 Software

 Options, accessories

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Fig. 3-1: Example of a robot system with KR C4 smallsize-2

1 Manipulator 3 Robot controller, KR C4 small-

size-2

2 Connecting cables 4 Teach pendant, KUKA smart- PAD

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3.2 Description of the manipulator

Overview The manipulators (manipulator = robot arm and electrical installations) (>>> Fig. 3-3 ) of the KR CYBERTECH nano robot family are designed as 6- axis jointed-arm kinematic systems. They consist of the following principal components:

 In-line wrist

 Link arm

 Rotating column

 Base frame

 Electrical installations

Fig. 3-2: Example of a robot system with KR C4 compact

1 Manipulator 3 Robot controller, KR C4 com-

pact

2 Connecting cables 4 Teach pendant, KUKA smart- PAD

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Robots of the HP variant (HP = High Protection) are designed in such a way as to offer greater resistance against dirt and water. The function and basic structure of these assemblies are identical to those of the standard variants.

Axes 1 to 5 are equipped with end stops. These serve only as machine protection. There are two options available for personnel protection:

 The Safe Robot functionality of the controller

 The use of mechanical supplementary stops for axes 1 to 3 (optional) In-line wrist The robot can be equipped with a triple-axis in-line wrist/arm combination for

a payload of 6 to 10 kg. This arm/in-line wrist assembly is screwed directly to the link arm of the robot via gear unit A3. This in-line wrist/arm assembly is available in two length variants. End effectors are attached to the mounting flange of axis 6. Axes A1 to A5 have a measuring device, through which the mechanical zero of the respective axis can be checked by means of an electronic probe (accessory) and transferred to the controller. For axis A6, a ver- nier is available for locate the mechanical zero position. Directions of rotation, axis data and permissible loads can be found in the chapter (>>> 4 "Technical data" Page 15).

The in-line wrist is driven by the motors inside the in-line wrist. Power is trans- mitted within the in-line wrist directly by gear unit A4 for axis 4; for axes 5 and 6, gear units with bevel gears and a toothed belt stage are used.

The mounting flange conforms, with minimal deviations, to ISO 9409-1:2004.

Link arm The link arm is the assembly located between the arm and the rotating column.

It consists of the link arm body with the buffers for axis 2 and the measurement notch for axis 3. The link arm is available in two length variants.

Rotating column The rotating column houses the gear units and motors A1 and A2. The rota- tional motion of axis 1 is performed by the rotating column. This is screwed to the base frame via the gear unit of axis 1 and is driven by a motor in the rotating column. The link arm is also mounted in the rotating column.

Fig. 3-3: Main assemblies of the manipulator

1 Link arm 4 Base frame

2 In-line wrist 5 Rotating column

3 Electrical installations

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Base frame The base frame is the base of the robot. It is screwed to the mounting base.

The flexible tube for the electrical installations is installed in the base frame.

Also located on the rear of the base frame are the junction box for the motor and data cable and the energy supply system.

Electrical installations

The electrical installations include all the motor and control cables for the motors of axes 1 to 6. The complete electrical installations consist of cable set A1 - A3 and cable set A4 - A6. For cable set A1 - A3, three variants are available:

 KR C4 robot cable set A1 - A3

 KR C4 robot cable set A1 - A3, Profinet

 KR C4 robot cable set A1 - A3, Multibus

Cable set A4 - A6 is identical for all CYBERTECH nano robot variants.

Included in the electrical installations are the relevant cable harness and the combo box with cover. The connecting cables to the controller and, if applica- ble, the cables and hoses of the integrated energy supply system are connect- ed to the combo box.

All connections are implemented as connectors in order to enable the main axis motors to be exchanged quickly and reliably. The electrical installations also include a protective circuit. The ground conductors to the robot are con- nected to the base frame by means of ring cable lugs and setscrews.

Options The robot can be fitted and operated with various options, such as an integrated energy supply system for axes 1 to 3, an energy supply system for axes 3 to 6, or working range limitation systems for axes A1, A2 and A3. The options are described in separate documentation.

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4 Technical data

4.1 Technical data, overview

The technical data for the individual robot types can be found in the following sections:

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Robot Technical data

KR 10 R1420  Technical data

(>>> 4.2 "Technical data, KR 10 R1420" Page 16)

 Plates and labels

(>>> 4.8 "Plates and labels" Page 75)

 Stopping distances and times

(>>> 4.10.3 "Stopping distances and times, KR 10 R1420" Page 79)

(>>> 4.10.4 "Stopping distances and times, KR 8 R1620" Page 85)

(>>> 4.10.5 "Stopping distances and times, KR 6 R1820" Page 90) KR 10 R1420 HP  Technical data

(>>> 4.5 "Technical data, KR 10 R1420 HP" Page 45)

(>>> 4.10.6 "Stopping distances and times, KR 10 R1420 HP"

Page 95) KR 8 R1620 HP  Technical data

Page 100) KR 6 R1820 HP  Technical data

Page 105)

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4.2 Technical data, KR 10 R1420

4.2.1 Basic data, KR 10 R1420 Basic data

Ambient condi- tions

Connecting cables

KR 10 R1420

Number of axes 6

Number of controlled axes 6

Volume of working envelope 10.64 m³ Pose repeatability (ISO 9283) ± 0.04 mm

Weight approx. 160 kg

Rated payload 10 kg

Maximum reach 1420 mm

Protection rating IP54

Protection rating, in-line wrist IP54

Sound level < 75 dB (A)

Mounting position Floor;

Ceiling;

Wall

Footprint 333.5 mm x 307 mm

Permissible angle of inclination -

Default color Base frame: black (RAL 9005);

Moving parts: KUKA orange 2567

Controller KR C4 smallsize-2;

KR C4 compact

Transformation name KR C4: #KR10R1420 C4

Humidity class (EN 60204) - Classification of environmental conditions (EN 60721-3-3)

3K3 Ambient temperature

During operation 5 °C to 45 °C (278 K to 318 K) During storage/transportation -20 °C to 60 °C (253 K to 333 K)

For operation at low temperatures, it may be necessary to warm up the robot.

Cable designation Connector designa- tion

robot controller - ro- bot

Interface with robot

Motor cable X20 - X30 Han Yellock 30

Data cable X21 - X31 HAN Q12

Ground conductor / equipotential bonding 4 mm²

(can be ordered as an option)

M4 ring cable lug at both ends

Cable lengths

Default 1 m, 4 m, 7 m, 15 m, 25 m

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For detailed specifications of the connecting cables, see “Description of the connecting cables”.

4.2.2 Axis data, KR 10 R1420 Axis data

The direction of motion and the arrangement of the individual axes may be noted from the following diagram.

Mastering positions

Working envelope

The following diagrams show the shape and size of the working envelope for these variants of this product family.

The reference point for the working envelope is the intersection of axes 4 and 5.

Minimum bending radius 5x D

Motion range

A1 ±170 °

A2 -185 ° / 65 °

A3 -137 ° / 163 °

A4 ±185 °

A5 ±120 °

A6 ±350 °

Speed with rated payload

A1 220 °/s

A2 210 °/s

A3 270 °/s

A4 381 °/s

A5 311 °/s

A6 492 °/s

Fig. 4-1: Direction of rotation of robot axes Mastering position

A1 38 °

A2 -110 °

A3 110 °

A4 0 °

A5 0 °

A6 0 °

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Inclined instal- lation

The robot can installed anywhere from a 0° position (floor) to a 180° position (ceiling). This type of installation results in limitations to the range of motion in the plus and minus directions about axis 1. The following figure shows the pos- Fig. 4-2: Working envelope, side view, KR 10 R1420

Fig. 4-3: Working envelope, top view, KR 10 R1420

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sible limitation of the motion range of axis 1, as a function of the angle of inclination of the robot.

The inclination angles for the robot must be entered correctly into the controller if the robot is not operated in the floor-mounted position. A configuration of the angles is possible via WorkVisual.

The inclination angles for an unchanged main working direction of the robot:

Floor: A:0°, B:0°, C:0°

Wall: A:0°, B:90°, C:0°

Ceiling: A:0°, B:0°, C:180°

4.2.3 Payloads, KR 10 R1420 Payloads

The inclined installation angles must be individually checked and entered. An incorrectly entered inclined installation angle can lead to unforeseen motion and/or to an overload and, potentially, damage to the robot.

Fig. 4-4: Motion range, axis 1 inclined

Rated payload 10 kg

Rated mass moment of inertia 0.1 kgm²

Rated total load 20 kg

Rated supplementary load, base frame

0 kg

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Load center of gravity

For all payloads, the load center of gravity refers to the distance from the face of the mounting flange on axis 6. Refer to the payload diagram for the nominal distance.

Payload diagram

Maximum supplementary load, base frame

0 kg Rated supplementary load, rotating column

0 kg Maximum supplementary load,

rotating column

20 kg Rated supplementary load, link arm 0 kg Maximum supplementary load, link arm

15 kg Rated supplementary load, arm 10 kg Maximum supplementary load, arm 15 kg Nominal distance to load center of gravity

Lxy 100 mm

Lz 80 mm

Fig. 4-5: Load center of gravity

This loading curve corresponds to the maximum load capacity. Both values (payload and mass moment of inertia) must be checked in all cases. Exceeding this capacity will reduce the service life of the robot and overload the motors and the gears; in any such case the KUKA Roboter GmbH must be consulted beforehand.

The values determined here are necessary for planning the robot application.

For commissioning the robot, additional input data are required in accor- dance with the operating and programming instructions of the KUKA System Software.

The mass inertia must be verified using KUKA.Load. It is imperative for the load data to be entered in the robot controller!

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In-line wrist

Mounting flange

The mounting flange is depicted (>>> Fig. 4-7 ) with axes 4 and 6 in the zero position. The symbol X_m indicates the position of the locating element (bush- ing) in the zero position.

Fig. 4-6: Payload diagram, KR 10 R1420

In-line wrist type ZH 6/8/10 kpl.

Mounting flange see drawing

Mounting flange (hole circle) 31.5 mm

Screw grade 12.9

Screw size M5

Number of fastening threads 7

Clamping length 1.5 x nominal diameter

Depth of engagement min. 5.5 mm, max. 7 mm

Locating element 5 ^H7

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Supplementary load

The robot can carry supplementary loads on the arm, link arm and rotating column. When mounting the supplementary loads, be careful to observe the maximum permissible total load. The dimensions and positions of the installation options can be seen in the following diagram.

Fig. 4-7: Mounting flange

Fig. 4-8: Fastening the supplementary load, arm 1 Mounting surface on IW, energy supply system only 2 Plane of rotation, axis 4

3 Plane of rotation, axis 3

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4.2.4 Loads acting on the mounting base KR 10 R1420 Loads acting on

the mounting base

The specified forces and moments already include the payload and the inertia force (weight) of the robot.

4 Mounting surface on arm

5 Mounting surface on IW, energy supply system only

Fig. 4-9: Fastening the supplementary load, link arm/rotating column 1 Mounting surface on link arm

2 Mounting surface on rotating column, both sides

Foundation loads for floor mounting position

F(v normal) 2469 N

F(v max) 2599 N

F(h normal) 1114 N

F(h max) 1376 N

M(k normal) 1523 Nm

M(k max) 2040 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

Foundation loads for ceiling mounting position

F(v normal) 2712 N

F(v max) 2794 N

F(h normal) 1282 N

F(h max) 1624 N

M(k normal) 1832 Nm

M(k max) 2329 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

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Vertical force F(v), horizontal force F(h), tilting torque M(k), torque about axis 1 M(r)

4.2.5 Transport dimensions, KR 10 R1420

The transport dimensions for the robots can be noted from the following diagrams (>>> Fig. 4-11 ). The position of the center of gravity and the weight vary according to the specific configuration. The specified dimensions refer to

Foundation loads for wall mounting position

F(v normal) 800 N

F(v max) 1000 N

F(h normal) 2748 N

F(h max) 2987 N

M(k normal) 2562 Nm

M(k max) 2701 Nm

M(r normal) 947 Nm

M(r max) 1126 Nm

Fig. 4-10: Foundation loads

Normal loads and maximum loads for the foundations are specified in the table.

The maximum loads must be referred to when dimensioning the foundations and must be adhered to for safety reasons. Failure to observe this can result in personal injury and damage to property.

The normal loads are average expected foundation loads. The actual loads are dependent on the program and on the robot loads and may therefore be greater or less than the normal loads.

The supplementary loads (A1 and A2) are not taken into consideration in the calculation of the mounting base load. These supplementary loads must be taken into consideration for F_v.

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the robot without equipment. The following diagram shows the dimensions of the robot when it stands on the floor without wooden transport blocks.

Fig. 4-11: Transport dimensions

1 Robot 3 Fork slots

2 Center of gravity

KR 8 R1620

Number of axes 6

Rated payload 8 kg

Ceiling;

Wall

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KR C4 compact

KR 8 R1620

Cable lengths

Default 1 m, 4 m, 7 m, 15 m, 25 m

Motion range

A1 ±170 °

A2 -185 ° / 65 °

A3 -137 ° / 163 °

A4 ±185 °

A5 ±120 °

A6 ±350 °

A1 220 °/s

A2 210 °/s

A3 270 °/s

A4 381 °/s

A5 311 °/s

A6 492 °/s

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A1 38 °

A2 -110 °

A3 110 °

A4 0 °

A5 0 °

A6 0 °

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Fig. 4-13: Working envelope, side view, KR 8 R1620

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The robot can installed anywhere from a 0° position (floor) to a 180° position (ceiling). This type of installation results in limitations to the range of motion in the plus and minus directions about axis 1. The following figure shows the possible limitation of the motion range of axis 1, as a function of the angle of inclination of the robot.

Floor: A:0°, B:0°, C:0°

Wall: A:0°, B:90°, C:0°

Ceiling: A:0°, B:0°, C:180°

Fig. 4-15: Motion range, axis 1 at an inclined position

Rated payload 8 kg

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Payload diagram

base frame

rotating column

Lxy 100 mm

Lz 80 mm

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In-line wrist

Mounting flange

Screw grade 12.9

Screw size M5

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Fig. 4-19: Fastening the supplementary load on the arm 1 Mounting surface on IW, energy supply system only 2 Plane of rotation, axis 4

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Fig. 4-20: Fastening the supplementary load on the link arm/rotating col- umn

1 Mounting surface on link arm

F(v normal) 2469 N

F(v max) 2599 N

F(h normal) 1114 N

F(h max) 1376 N

M(k normal) 1523 Nm

M(k max) 2040 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

F(v normal) 2712 N

F(v max) 2794 N

F(h normal) 1282 N

F(h max) 1624 N

M(k normal) 1832 Nm

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M(k max) 2329 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

F(v normal) 800 N

F(v max) 1000 N

F(h normal) 2748 N

F(h max) 2987 N

M(k normal) 2562 Nm

M(k max) 2701 Nm

M(r normal) 947 Nm

M(r max) 1126 Nm

Fig. 4-21: Mounting base loads

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The transport dimensions for the robots can be noted from the following diagrams (>>> Fig. 4-22 ). The position of the center of gravity and the weight vary according to the specific configuration. The specified dimensions refer to the robot without equipment. The following diagram shows the dimensions of the robot when it stands on the floor without wooden transport blocks.

2 Center of gravity

KR 6 R1820

Number of axes 6

Rated payload 6 kg

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Ceiling;

Wall

KR C4 compact

KR 6 R1820

Cable lengths

Default 1 m, 4 m, 7 m, 15 m, 25 m

Motion range

A1 ±170 °

A2 -185 ° / 65 °

A3 -137 ° / 163 °

A4 ±185 °

A5 ±120 °

A6 ±350 °

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A1 220 °/s

A2 210 °/s

A3 270 °/s

A4 381 °/s

A5 311 °/s

A6 492 °/s

A1 38 °

A2 -110 °

A3 110 °

A4 0 °

A5 0 °

A6 0 °

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Fig. 4-24: Working envelope, side view, KR 6 R1820

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Floor: A:0°, B:0°, C:0°

Wall: A:0°, B:90°, C:0°

Ceiling: A:0°, B:0°, C:180°

Fig. 4-26: Motion range, axis 1 inclined

Rated payload 6 kg

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Payload diagram

base frame

rotating column

Lxy 100 mm

Lz 80 mm

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In-line wrist

Mounting flange

Screw grade 12.9

Screw size M5

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3 Plane of rotation, axis 3 4 Mounting surface on arm

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F(v normal) 2469 N

F(v max) 2599 N

F(h normal) 1114 N

F(h max) 1376 N

M(k normal) 1523 Nm

M(k max) 2040 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

F(v normal) 2712 N

F(v max) 2794 N

F(h normal) 1282 N

F(h max) 1624 N

M(k normal) 1832 Nm

M(k max) 2329 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

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The transport dimensions for the robots can be noted from the following diagrams (>>> Fig. 4-33 ). The position of the center of gravity and the weight

F(v normal) 800 N

F(v max) 1000 N

F(h normal) 2748 N

F(h max) 2987 N

M(k normal) 2562 Nm

M(k max) 2701 Nm

M(r normal) 947 Nm

M(r max) 1126 Nm

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vary according to the specific configuration. The specified dimensions refer to the robot without equipment. The following diagram shows the dimensions of the robot when it stands on the floor without wooden transport blocks.

4.5 Technical data, KR 10 R1420 HP

4.5.1 Basic data, KR 10 R1420 HP Basic data

2 Center of gravity

KR 10 R1420 HP

Number of axes 6

Rated payload 10 kg

Ceiling;

Wall

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4.5.2 Axis data, KR 10 R1420 HP Axis data

KR C4 compact

KR 10 R1420 HP

Cable lengths

Default 1 m, 4 m, 7 m, 15 m, 25 m

Motion range

A1 ±170 °

A2 -185 ° / 65 °

A3 -137 ° / 163 °

A4 ±185 °

A5 ±120 °

A6 ±350 °

A1 220 °/s

A2 210 °/s

A3 270 °/s

A4 381 °/s

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A5 311 °/s

A6 492 °/s

A1 38 °

A2 -110 °

A3 110 °

A4 0 °

A5 0 °

A6 0 °

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The robot can installed anywhere from a 0° position (floor) to a 180° position (ceiling). This type of installation results in limitations to the range of motion in the plus and minus directions about axis 1. The following figure shows the pos- Fig. 4-35: Working envelope, side view, KR 10 R1420 HP

Fig. 4-36: Working envelope, top view, KR 10 R1420 HP

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sible limitation of the motion range of axis 1, as a function of the angle of inclination of the robot.

Floor: A:0°, B:0°, C:0°

Wall: A:0°, B:90°, C:0°

Ceiling: A:0°, B:0°, C:180°

4.5.3 Payloads, KR 10 R1420 HP Payloads

Rated payload 10 kg

0 kg

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Payload diagram

Maximum supplementary load, base frame

rotating column

Lxy 100 mm

Lz 80 mm

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In-line wrist

Mounting flange

Fig. 4-39: Payload diagram, KR 10 R1420 HP

In-line wrist type ZH 6/8/10 HP kpl.

Screw grade 12.9

Screw size M5

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Fig. 4-41: Fastening the supplementary load, arm 1 Mounting surface on IW, energy supply system only 2 Plane of rotation, axis 4

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4.5.4 Loads acting on the mounting base KR 10 R1420 HP Loads acting on

Fig. 4-42: Fastening the supplementary load, link arm/rotating column 1 Mounting surface on link arm

F(v normal) 2469 N

F(v max) 2599 N

F(h normal) 1114 N

F(h max) 1376 N

M(k normal) 1523 Nm

M(k max) 2040 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

F(v normal) 2712 N

F(v max) 2794 N

F(h normal) 1282 N

F(h max) 1624 N

M(k normal) 1832 Nm

M(k max) 2329 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

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4.5.5 Transport dimensions, KR 10 R1420 HP

The transport dimensions for the robots can be noted from the following diagrams (>>> Fig. 4-44 ). The position of the center of gravity and the weight vary according to the specific configuration. The specified dimensions refer to

F(v normal) 800 N

F(v max) 1000 N

F(h normal) 2748 N

F(h max) 2987 N

M(k normal) 2562 Nm

M(k max) 2701 Nm

M(r normal) 947 Nm

M(r max) 1126 Nm

Fig. 4-43: Foundation loads

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the robot without equipment. The following diagram shows the dimensions of the robot when it stands on the floor without wooden transport blocks.

2 Center of gravity

KR 8 R1620 HP

Number of axes 6

Rated payload 8 kg

Ceiling;

Wall

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KR C4 compact

KR 8 R1620 HP

Cable lengths

Default 1 m, 4 m, 7 m, 15 m, 25 m

Motion range

A1 ±170 °

A2 -185 ° / 65 °

A3 -137 ° / 163 °

A4 ±185 °

A5 ±120 °

A6 ±350 °

A1 220 °/s

A2 210 °/s

A3 270 °/s

A4 381 °/s

A5 311 °/s

A6 492 °/s

(57)

A1 38 °

A2 -110 °

A3 110 °

A4 0 °

A5 0 °

A6 0 °

(58)

Fig. 4-46: Working envelope, side view, KR 8 R1620 HP

Fig. 4-47: Working envelope, top view, KR 8 R1620 HP

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Floor: A:0°, B:0°, C:0°

Wall: A:0°, B:90°, C:0°

Ceiling: A:0°, B:0°, C:180°

4.6.3 Payloads, KR 8 R1620 HP Payloads

Rated payload 8 kg

(60)

Payload diagram

base frame

rotating column

Lxy 100 mm

Lz 80 mm

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In-line wrist

Mounting flange

Fig. 4-50: Payload diagram, KR 8 R1620 HP

In-line wrist type ZH 6/8/10 HP kpl.

Screw grade 12.9

Screw size M5

(62)

(63)

4.6.4 Loads acting on the mounting base KR 8 R1620 HP Loads acting on

F(v normal) 2469 N

F(v max) 2599 N

F(h normal) 1114 N

F(h max) 1376 N

M(k normal) 1523 Nm

M(k max) 2040 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

F(v normal) 2712 N

F(v max) 2794 N

F(h normal) 1282 N

F(h max) 1624 N

M(k normal) 1832 Nm

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M(k max) 2329 Nm

M(r normal) 1029 Nm

M(r max) 1149 Nm

F(v normal) 800 N

F(v max) 1000 N

F(h normal) 2748 N

F(h max) 2987 N

M(k normal) 2562 Nm

M(k max) 2701 Nm

M(r normal) 947 Nm

M(r max) 1126 Nm

(65)

4.6.5 Transport dimensions, KR 8 R1620 HP

The transport dimensions for the robots can be noted from the following diagrams (>>> Fig. 4-55 ). The position of the center of gravity and the weight vary according to the specific configuration. The specified dimensions refer to the robot without equipment. The following diagram shows the dimensions of the robot when it stands on the floor without wooden transport blocks.

2 Center of gravity

KR 6 R1820 HP

Number of axes 6

Rated payload 6 kg

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Ceiling;

Wall

KR C4 compact

KR 6 R1820 HP

Cable lengths

Default 1 m, 4 m, 7 m, 15 m, 25 m

Motion range

A1 ±170 °

A2 -185 ° / 65 °

A3 -137 ° / 163 °

A4 ±185 °

A5 ±120 °

A6 ±350 °

(67)

A1 220 °/s

A2 210 °/s

A3 270 °/s

A4 381 °/s

A5 311 °/s

A6 492 °/s

A1 38 °

A2 -110 °

A3 110 °

A4 0 °

A5 0 °

A6 0 °

KR CYBERTECH nano