KUKA Robots Operating Instructions

KUKA KR 6 10_AGILUS.pdf

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Issued: 25.03.2015 Version: BA KR AGILUS sixx V12

KR AGILUS sixx

4.10.7.2 4.10.7.3 4.10.7.4 4.10.8 4.10.8.1 4.10.8.2 4.10.8.3 4.10.8.4

Stopping distances and stopping times for STOP 1, axis 1 ............................ 79 Stopping distances and stopping times for STOP 1, axis 2 ............................ 81 Stopping distances and stopping times for STOP 1, axis 3 ............................ 83

Stopping distances and times, KR 10 R900 sixx W and KR 10 R1100 sixx W .... 83 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 83 Stopping distances and stopping times for STOP 1, axis 1 ............................ 85 Stopping distances and stopping times for STOP 1, axis 2 ............................ 87 Stopping distances and stopping times for STOP 1, axis 3 ............................ 89

5 Safety ............................................................................................................ 91

5.1 General ...................................................................................................................... 91

1. 5.1.1  Liability ................................................................................................................. 91
2. 5.1.2  Intended use of the industrial robot ...................................................................... 92
3. 5.1.3  EC declaration of conformity and declaration of incorporation ............................. 92
4. 5.1.4  Terms used .......................................................................................................... 93

1. 5.2  Personnel .................................................................................................................. 93
2. 5.3  Workspace, safety zone and danger zone ................................................................ 94
3. 5.4  Overview of protective equipment ............................................................................. 95

1. 5.4.1  Mechanical end stops ........................................................................................... 95
2. 5.4.2  Mechanical axis range limitation (optional) ........................................................... 95
3. 5.4.3  Axis range monitoring (optional) ........................................................................... 95
4. 5.4.4  Options for moving the manipulator without drive energy .................................... 96
5. 5.4.5  Labeling on the industrial robot ............................................................................ 96

5.5 Safety measures ........................................................................................................ 97

1. 5.5.1  General safety measures ..................................................................................... 97
2. 5.5.2  Transportation ...................................................................................................... 98
3. 5.5.3  Start-up and recommissioning .............................................................................. 98
4. 5.5.4  Manual mode ........................................................................................................ 99
5. 5.5.5  Automatic mode ................................................................................................... 100
6. 5.5.6  Maintenance and repair ........................................................................................ 100
7. 5.5.7  Decommissioning, storage and disposal .............................................................. 102

5.6 Applied norms and regulations .................................................................................. 102

6 Planning ........................................................................................................ 105

1. 6.1  Information for planning ............................................................................................. 105
2. 6.2  Mounting base ........................................................................................................... 105
3. 6.3  Machine frame mounting ........................................................................................... 107
4. 6.4  Connecting cables and interfaces ............................................................................. 109
5. 6.5  Customer interfaces .................................................................................................. 110

7 Transportation ............................................................................................. 117 7.1 Transporting the manipulator ..................................................................................... 117 8 Start-up and recommissioning ................................................................... 123

1. 8.1  Installing the mounting base ...................................................................................... 123
2. 8.2  Installing the machine frame mounting assembly ...................................................... 124
3. 8.3  Installing a floor-mounted robot ................................................................................. 125
4. 8.4  Installing a wall-mounted robot .................................................................................. 126
5. 8.5  Installing a ceiling-mounted robot .............................................................................. 130
6. 8.6  Description of the connecting cables ......................................................................... 134

8.7 Moving the manipulator without drive energy ............................................................ 140 9 Maintenance ................................................................................................. 141

1. 9.1  Maintenance symbols ................................................................................................ 141
2. 9.2  Maintenance table ...................................................................................................... 141
3. 9.3  Greasing the inside of covers A2 and A3 ................................................................... 143
4. 9.4  Removing and installing toothed belts A5 and A6 ..................................................... 144
5. 9.5  Cleaning the robot ...................................................................................................... 145

10 Repair ........................................................................................................... 147 10.1 Measuring and adjusting the toothed belt tension for the in-line wrist, A5, A6 .......... 147 11 Decommissioning, storage and disposal .................................................. 151

1. 11.1  Decommissioning, floor-mounted robot ..................................................................... 151
2. 11.2  Decommissioning, wall-mounted robot ...................................................................... 152
3. 11.3  Decommissioning, ceiling-mounted robot .................................................................. 155
4. 11.4  Storage ...................................................................................................................... 158
5. 11.5  Disposal ..................................................................................................................... 159

12 Appendix ...................................................................................................... 161

1. 12.1  Tightening torques ..................................................................................................... 161
2. 12.2  Safety data sheets ..................................................................................................... 161

1. 12.2.1  Safety data sheet for Flexolub®-A1 lubricant ........................................................ 161
2. 12.2.2  Safety data sheet for OBEEN FS 2 lubricant ........................................................ 165

13 KUKA Service .............................................................................................. 183

1. 13.1  Requesting support .................................................................................................... 183
2. 13.2  KUKA Customer Support ........................................................................................... 183
3. Index ............................................................................................................. 191