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KR AGILUS sixx
Kuka KR AGILUS sixx User Manual
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Robots
KR AGILUS sixx
With W and C Variants
Assembly Instructions
KUKA Roboter GmbH
Issued: 28.03.2013
Version: MA KR AGILUS sixx V8 en (PDF)
2
Table of Contents
Table of Contents
3
Introduction
7
Industrial Robot Documentation
7
Representation of Warnings and Notes
7
Terms Used
7
Purpose
9
Target Group
9
Intended Use
9
Product Description
11
Overview of the Robot System
11
Description of the Manipulator
11
Technical Data
15
Basic Data, KR 6 Sixx
16
Axis Data, KR 6 Sixx
17
Payloads, KR 6 Sixx
22
Mounting Base Data, KR 6 Sixx
26
Basic Data, KR 10 Sixx
27
Axis Data, KR 10 Sixx
28
Payloads, KR 10 Sixx
37
Mounting Base Data, KR 10 Sixx
43
Plates and Labels
44
Stopping Distances and Times
45
General Information
45
Terms Used
46
Stopping Distances and Times, KR 6 R900 Sixx
47
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 3
47
Stopping Distances and Stopping Times for STOP 1, Axis 1
48
Stopping Distances and Stopping Times for STOP 1, Axis 2
50
Stopping Distances and Stopping Times for STOP 1, Axis 3
52
Stopping Distances and Times, KR 6 R900 Sixx W
52
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 3
52
Stopping Distances and Stopping Times for STOP 1, Axis 1
54
Stopping Distances and Stopping Times for STOP 1, Axis 2
56
Stopping Distances and Stopping Times for STOP 1, Axis 3
58
Stopping Distances and Times, KR 10 R900 Sixx and KR 10 R1100 Sixx
58
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 3
58
Stopping Distances and Stopping Times for STOP 1, Axis 1
60
Stopping Distances and Stopping Times for STOP 1, Axis 2
62
Stopping Distances and Stopping Times for STOP 1, Axis 3
64
Stopping Distances and Times, KR 10 R900 Sixx W and KR 10 R1100 Sixx W
64
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 3
64
Stopping Distances and Stopping Times for STOP 1, Axis 1
66
Stopping Distances and Stopping Times for STOP 1, Axis 2
68
Stopping Distances and Stopping Times for STOP 1, Axis 3
70
Safety
71
General
71
Liability
71
Intended Use of the Industrial Robot
72
EC Declaration of Conformity and Declaration of Incorporation
72
Terms Used
73
Personnel
74
Workspace, Safety Zone and Danger Zone
75
Overview of Protective Equipment
76
Mechanical End Stops
76
Mechanical Axis Range Limitation (Optional)
76
Axis Range Monitoring (Optional)
77
Options for Moving the Manipulator Without the Robot Controller
77
Labeling on the Industrial Robot
78
Safety Measures
79
General Safety Measures
79
Transportation
80
Start-Up and Recommissioning
80
Manual Mode
81
Automatic Mode
82
Maintenance and Repair
82
Decommissioning, Storage and Disposal
84
Applied Norms and Regulations
84
Planning
87
Mounting Base
87
Machine Frame Mounting
89
Connecting Cables and Interfaces
90
Customer Interfaces
91
Transportation
97
Transporting the Manipulator
97
Start-Up and Recommissioning
101
Installing the Mounting Base
101
Installing the Machine Frame Mounting Assembly
102
Installing a Floor-Mounted Robot
103
Installing a Wall-Mounted Robot
104
Installing a Ceiling-Mounted Robot
108
Description of the Connecting Cables
112
Moving the Manipulator Without the Robot Controller
118
Appendix
119
Tightening Torque
119
Safety Data Sheets
119
Safety Data Sheet for Flexolub ® -A1 Lubricant
119
Designation of Substance/Formulation and Manufacturer
119
Composition / Information about the Components
119
Possible Hazards
120
First Aid Measures
120
Fire-Fighting Measures
120
Measures after Unintended Release
120
Handling and Storage
121
Exposure Limits and Personal Protective Equipment
121
Physical and Chemical Properties
121
Stability and Reactivity
122
Toxicological Information
122
Ecological Information
122
Disposal Information
122
Transport Information
122
Regulations
123
Other Information
123
Safety Data Sheet for OBEEN FS 2 Lubricant
123
Designation of Substance/Formulation and Manufacturer
123
Composition / Information about the Components
124
Possible Hazards
124
First Aid Measures
124
Fire-Fighting Measures
125
Measures after Unintended Release
125
Handling and Storage
125
Exposure Limits and Personal Protective Equipment
125
Physical and Chemical Properties
126
Stability and Reactivity
126
Toxicological Information
126
Ecological Information
126
Disposal Information
127
Transport Information
127
Regulations
127
Other Information
128
KUKA Service
131
Requesting Support
131
KUKA Customer Support
131
Index
139
4
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Kuka KR AGILUS sixx Specifications
General
Robot Type
Articulated Robot
Number of Axes
6
Payload Capacity
6 kg
Reach
900 mm
Control System
KUKA Controller
Mounting Position
Floor, ceiling, wall
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