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IONTECKR 70 R2100
Kuka IONTECKR 70 R2100 User Manual
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4.1
1.4.3
Stopping
distances
and
stopping
times,
STOP
1,
A2
Fig.
4-93:
Stopping
distances
for
STOP
1,
axis
2
KR
IONTEC
144/344
|
www.kuka.com
MA
KR
IONTEC
V4
|
Issued:
1
1.05.2021
T
echnical
data
143
145
Table of Contents
Table of Contents
3
Introduction
9
Target Group
9
Industrial Robot Documentation
9
Representation of Warnings and Notes
9
Terms Used
10
Product Description
15
Description of the Robot System
15
Description of the Manipulator
16
Intended Use and Misuse
17
Safety
19
General
19
Disclaimer
19
EC Declaration of Conformity and Declaration of Incorporation
20
Terms in the "Safety" Chapter
20
Personnel
22
Workspace, Safety Zone and Danger Zone
23
Overview of Protective Equipment
23
Mechanical End Stops
24
Mechanical Axis Limitation (Optional)
24
Options for Moving the Manipulator Without Drive Energy
24
Labeling on the Industrial Robot
25
Safety Measures
25
General Safety Measures
25
Transportation
27
Start-Up and Recommissioning
27
Manual Mode
29
Automatic Mode
30
Maintenance and Repair
30
Decommissioning, Storage and Disposal
32
Technical Data
33
Technical Data, Overview
33
Technical Data, KR 20 R3100
34
Basic Data, KR 20 R3100
34
Axis Data, KR 20 R3100
36
Payloads, KR 20 R3100
39
Foundation Loads, KR 20 R3100
45
Technical Data, KR 30 R2100
47
Basic Data, KR 30 R2100
47
Axis Data, KR 30 R2100
48
Payloads, KR 30 R2100
51
Foundation Loads, KR 30 R2100
58
Technical Data, KR 50 R2100
60
Basic Data, KR 50 R2100
60
Axis Data, KR 50 R2100
61
Payloads, KR 50 R2100
64
Foundation Loads, KR 50 R2100
71
Technical Data, KR 50 R2500
73
Basic Data, KR 50 R2500
73
Axis Data, KR 50 R2500
74
Payloads, KR 50 R2500
78
Foundation Loads, KR 50 R2500
84
Technical Data, KR 50 R2500 F
86
Basic Data, KR 50 R2500 F
86
Axis Data, KR 50 R2500 F
88
Payloads, KR 50 R2500 F
92
Foundation Loads, KR 50 R2500 F
98
Technical Data, KR 70 R2100
100
Basic Data, KR 70 R2100
100
Axis Data, KR 70 R2100
101
Payloads, KR 70 R2100
104
Foundation Loads, KR 70 R2100
111
Technical Data, KR 70 R2100 F
113
Basic Data, KR 70 R2100 F
113
Axis Data, KR 70 R2100 F
115
Payloads, KR 70 R2100 F
118
Foundation Loads, KR 70 R2100 F
124
Plates and Labels
126
REACH Duty to Communicate Information Acc. to Art. 33
128
Stopping Distances and Times
128
General Information
128
Stopping Distances and Times, KR 20 R3100
129
Stopping Distances and Stopping Times, STOP 0, A1 to A3
129
Stopping Distances and Stopping Times, STOP 1, A1
130
Stopping Distances and Stopping Times, STOP 1, A2
132
Stopping Distances and Stopping Times, STOP 1, A3
134
Stopping Distances and Times, KR 30 R2100
134
Stopping Distances and Stopping Times, STOP 0, A1 to A3
134
Stopping Distances and Stopping Times, STOP 1, A1
136
Stopping Distances and Stopping Times, STOP 1, A2
138
Stopping Distances and Stopping Times, STOP 1, A3
140
Stopping Distances and Times, KR 50 R2100
140
Stopping Distances and Stopping Times, STOP 0, A1 to A3
140
Stopping Distances and Stopping Times, STOP 1, A1
142
Stopping Distances and Stopping Times, STOP 1, A2
144
Stopping Distances and Stopping Times, STOP 1, A3
146
Stopping Distances and Times, KR 50 R2500 and KR 50 R2500 F
146
Stopping Distances and Stopping Times, STOP 0, A1 to A3
146
Stopping Distances and Stopping Times, STOP 1, A1
148
Stopping Distances and Stopping Times, STOP 1, A2
150
Stopping Distances and Stopping Times, STOP 1, A3
152
Stopping Distances and Times, KR 70 R2100 and KR 70 R2100 F
152
Stopping Distances and Stopping Times, STOP 0, A1 to A3
152
Stopping Distances and Stopping Times, STOP 1, A1
154
Stopping Distances and Stopping Times, STOP 1, A2
156
Stopping Distances and Stopping Times, STOP 1, A3
158
Planning
159
Information for Planning
159
Mounting Base with Centering
159
Machine Frame Mounting
161
Connecting Cables and Interfaces
163
Transportation
167
Transporting the Robot
167
Start-Up and Recommissioning
171
Overview of Start-Up and Recommissioning
171
Starting up Robots (Mounting Base)
171
Installing KR IONTEC Fork Slots
173
Installing the Robot with a Mounting Base
173
Removing KR IONTEC Fork Slots
176
Connecting the Connecting Cables
177
Concluding Work
177
Starting up Robots (Machine Frame Mounting)
178
Installing KR IONTEC Fork Slots
180
Installing the Machine Frame Mounting Assembly
180
Removing KR IONTEC Fork Slots
181
Connecting the Connecting Cables
182
Concluding Work
183
Description of the Connecting Cables
183
Description of Overtravel Protection on Axis 4
187
Maintenance
189
Maintenance Overview
189
Maintenance Table, KR IONTEC KR 20 R3100
190
Maintenance Table, KR IONTEC Standard and Foundry Variants
192
Greasing Cable Set A1
195
Checking and Greasing Cable Set A1
196
Concluding Work
197
Oil Change in A1
197
Draining the Gear Oil from A1
198
Filling Gear Unit A1 with Gear Oil
199
Concluding Work
200
Oil Change in A2
200
Draining the Gear Oil from A2
201
Filling Gear Unit A2 with Gear Oil
202
Concluding Work
203
Oil Change in A3
203
Draining the Gear Oil from A3
205
Filling Gear Unit A3 with Gear Oil
205
Concluding Work
206
Oil Change in A4
206
Draining the Gear Oil from A4
208
Filling Gear Unit A4 with Gear Oil
208
Concluding Work
209
Oil Change in A5
210
Draining the Gear Oil from A5
211
Filling Gear Unit A5 with Gear Oil
212
Concluding Work
213
Oil Change in A6
213
Draining the Gear Oil from A6
215
Filling Gear Unit A6 with Gear Oil
215
Concluding Work
217
Kr 20 R3100
217
Oil Change in A4
217
Draining the Gear Oil from A4
218
Filling Gear Unit A4 with Gear Oil
219
Concluding Work
220
Oil Change in A5
220
Draining the Gear Oil from A5
222
Filling Gear Unit A5 with Gear Oil
223
Concluding Work
223
Oil Change in A6
223
Draining the Gear Oil from A6
225
Filling Gear Unit A6 with Gear Oil
226
Concluding Work
227
Cleaning the Robot
227
Cleaning
228
Concluding Work
228
Repair
229
Exchanging Motor A1
229
Removing Motor A1
230
Installing Motor A1
231
Concluding Work
232
Exchanging Motor A2
233
Securing the Link Arm
235
Removing Motor A2
235
Installing Motor A2
236
Removing the Equipment Securing the Link Arm
237
Concluding Work
238
Exchanging Motor A3
238
Securing the In-Line Wrist and Robot Arm
240
Removing Cover A3
241
Removing Motor A3
242
Installing Motor A3
243
Mounting the Cover
244
Removing the Equipment Securing the In-Line Wrist and Robot Arm
245
Concluding Work
246
KR IONTEC Foundry
246
Exchanging Motor A1
246
Removing Motor A1
248
Installing Motor A1
249
Concluding Work
250
Exchanging Motor A2
251
Securing the Link Arm
252
Removing Motor A2
253
Installing Motor A2
254
Removing the Equipment Securing the Link Arm
255
Concluding Work
256
Kr 20 R3100
256
Exchanging Motor A4
256
Securing the In-Line Wrist and Robot Arm
258
Removing Cover A3
259
Removing Motor A4
260
Installing Motor A4
261
Mounting the Cover
262
Removing the Equipment Securing the In-Line Wrist and Robot Arm
263
Concluding Work
264
Exchanging Motor A5
264
Securing the In-Line Wrist and Robot Arm
266
Removing Cover A3
267
Removing Motor A5
268
Installing Motor A5
269
Mounting the Cover
270
Removing the Equipment Securing the In-Line Wrist and Robot Arm
271
Concluding Work
272
Exchanging Motor A6 and In-Line Wrist
272
Securing the In-Line Wrist and Robot Arm
274
Removing Cover A3
275
Removing Motor A4
276
Removing Motor A5
277
Removing Motor A6 and In-Line Wrist
278
Preparing the New In-Line Wrist
278
Installing Motor A6 and In-Line Wrist
279
Installing Motor A5
280
Installing Motor A4
281
Mounting the Cover
283
Removing the Equipment Securing the In-Line Wrist and Robot Arm
284
Concluding Work
285
Exchanging the Connecting Shafts
285
Securing the In-Line Wrist and Robot Arm
287
Removing Cover A3
288
Removing Motor A4
289
Removing Motor A5
290
Installing Motor A5
291
Installing Motor A4
292
Mounting the Cover
294
Removing the Equipment Securing the In-Line Wrist and Robot Arm
295
Concluding Work
296
Description of the Electrical Installations
296
Decommissioning, Storage and Disposal
311
Decommissioning
311
Moving the Robot into Its Transport Position
311
Removing the Robot
312
Concluding Work
313
Storage
313
Removing the Robot
315
Cleaning
316
Preparing for Storage
316
Concluding Work
316
Disposal
316
Options
319
Release Device
319
Starting up the Release Device
319
Installing the Release Device
320
Moving the Manipulator Without Drive Energy
322
Concluding Work
324
Purge Option a
324
Purge Option B
325
Purge Option C
327
Starting up PURGE Option C
328
Installing PURGE Option C
329
Concluding Work
330
Purge Option D
331
Starting up PURGE Option D
332
Installing PURGE Option D
333
Concluding Work
334
Appendix
335
Tightening Torques
335
Auxiliary and Operating Materials Used
336
Applied Standards and Regulations
337
KUKA Service
339
Requesting Support
339
KUKA Customer Support
339
Index
341
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Kuka IONTECKR 70 R2100 Specifications
General
Payload
70 kg
Reach
2100 mm
Number of axes
6
Repeatability
±0.06 mm
Mounting position
Floor, wall, ceiling
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