Kuka KR 6-2 - Page 28

Operating Instructions
28 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
A3
A
4
A5
A6
+
--
--
+
--
+
--
+
A1
--
+
A2
--
+
Fig. 14 Robot axes and their possible motions
Pose repeatability ± 0.05 mm
(ISO 9283)
Mounting position Floor, wall or ceiling
Permissible angle of A1 for wall installation, see Fig. 15
Principal dimensions see Fig. 18 -- 20
Working envelope The shape and dimensions of the working envelope may be noted
from Fig. 18 -- 20.
Volume of working envelope
KR 6 14.50 m
3
KR 16 14.50 m
3
KR 16 L6 24.00 m
3
The reference point is the intersection of axes 4 and 5.
Load center of gravity P
see Fig. 16 and 17
For all rated payloads, the horizontal distance of the load center
of gravity P from the face of the mounting flange is 150 mm; the
vertical distance from rotational axis 6 is 120 mm (nominal dis-
tance in each case).
Mounting flange DIN/ISO
1)
mounting flange (Fig. 24).
The mounting flange is depicted with axes 4 and 6 in the zero posi-
tion. The symbol
indicates the position of the locating element
(bushing). M6 screws of grade 10.9 are to be used for attaching
payloads. The grip length of the screws in the flange must be at
least 1.5 x nominal diameter.
Depth of engagement: min. 6 mm
max. 9 mm; 7 mm for KR 6; KR 16 L6
1) DIN/ISO 9409--1--A40 for KR 6 and KR 16 L6
DIN/ISO 9409--1--A50 for KR 16