Kuka KR AGILUS sixx

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14 / 141 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)

KR AGILUS sixx

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Table of Contents3
Introduction7
Industrial Robot Documentation7
Representation of Warnings and Notes7
Terms Used7
Purpose9
Target Group9
Intended Use9
Product Description11
Overview of the Robot System11
Description of the Manipulator11
Technical Data15
Basic Data, KR 6 Sixx16
Axis Data, KR 6 Sixx17
Payloads, KR 6 Sixx22
Mounting Base Data, KR 6 Sixx26
Basic Data, KR 10 Sixx27
Axis Data, KR 10 Sixx28
Payloads, KR 10 Sixx37
Mounting Base Data, KR 10 Sixx43
Plates and Labels44
Stopping Distances and Times45
General Information45
Terms Used46
Stopping Distances and Times, KR 6 R900 Sixx47
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 347
Stopping Distances and Stopping Times for STOP 1, Axis 148
Stopping Distances and Stopping Times for STOP 1, Axis 250
Stopping Distances and Stopping Times for STOP 1, Axis 352
Stopping Distances and Times, KR 6 R900 Sixx W52
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 352
Stopping Distances and Stopping Times for STOP 1, Axis 154
Stopping Distances and Stopping Times for STOP 1, Axis 256
Stopping Distances and Stopping Times for STOP 1, Axis 358
Stopping Distances and Times, KR 10 R900 Sixx and KR 10 R1100 Sixx58
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 358
Stopping Distances and Stopping Times for STOP 1, Axis 160
Stopping Distances and Stopping Times for STOP 1, Axis 262
Stopping Distances and Stopping Times for STOP 1, Axis 364
Stopping Distances and Times, KR 10 R900 Sixx W and KR 10 R1100 Sixx W64
Stopping Distances and Stopping Times for STOP 0, Axis 1 to Axis 364
Stopping Distances and Stopping Times for STOP 1, Axis 166
Stopping Distances and Stopping Times for STOP 1, Axis 268
Stopping Distances and Stopping Times for STOP 1, Axis 370
Safety71
General71
Liability71
Intended Use of the Industrial Robot72
EC Declaration of Conformity and Declaration of Incorporation72
Terms Used73
Personnel74
Workspace, Safety Zone and Danger Zone75
Overview of Protective Equipment76
Mechanical End Stops76
Mechanical Axis Range Limitation (Optional)76
Axis Range Monitoring (Optional)77
Options for Moving the Manipulator Without the Robot Controller77
Labeling on the Industrial Robot78
Safety Measures79
General Safety Measures79
Transportation80
Start-Up and Recommissioning80
Manual Mode81
Automatic Mode82
Maintenance and Repair82
Decommissioning, Storage and Disposal84
Applied Norms and Regulations84
Planning87
Mounting Base87
Machine Frame Mounting89
Connecting Cables and Interfaces90
Customer Interfaces91
Transportation97
Transporting the Manipulator97
Start-Up and Recommissioning101
Installing the Mounting Base101
Installing the Machine Frame Mounting Assembly102
Installing a Floor-Mounted Robot103
Installing a Wall-Mounted Robot104
Installing a Ceiling-Mounted Robot108
Description of the Connecting Cables112
Moving the Manipulator Without the Robot Controller118
Appendix119
Tightening Torque119
Safety Data Sheets119
Safety Data Sheet for Flexolub ® -A1 Lubricant119
Designation of Substance/Formulation and Manufacturer119
Composition / Information about the Components119
Possible Hazards120
First Aid Measures120
Fire-Fighting Measures120
Measures after Unintended Release120
Handling and Storage121
Exposure Limits and Personal Protective Equipment121
Physical and Chemical Properties121
Stability and Reactivity122
Toxicological Information122
Ecological Information122
Disposal Information122
Transport Information122
Regulations123
Other Information123
Safety Data Sheet for OBEEN FS 2 Lubricant123
Designation of Substance/Formulation and Manufacturer123
Composition / Information about the Components124
Possible Hazards124
First Aid Measures124
Fire-Fighting Measures125
Measures after Unintended Release125
Handling and Storage125
Exposure Limits and Personal Protective Equipment125
Physical and Chemical Properties126
Stability and Reactivity126
Toxicological Information126
Ecological Information126
Disposal Information127
Transport Information127
Regulations127
Other Information128
KUKA Service131
Requesting Support131
KUKA Customer Support131
Index139

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