Kuka KR 350 Mode d’emploi

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ROBOT

KR 350

Installation, Connection, Exchange

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eCopyright KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.

Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in

the case of a replacement or service work.

We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies

cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a

regular basis, however, and necessary corrections will be incorporated in subsequent editions.

Subject to technical alterations without an effect on the function.

PD Interleaf

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Contents

1 General 5.........................................................

2 Principal loads 7...................................................

3 Mounting variants 8................................................

3.1 Variant 1 (394.001--08.002) 9......................................................

3.2 Variant 2 (394.001--08.003) 11......................................................

4 Installing and connecting the robot 15...............................

4.1 Floor--mounted robots 15..........................................................

4.2 Ceiling--mounted robots 17.........................................................

5 Exchange 21.......................................................

5.1 Exchanging floor--mounted robots 21................................................

5.2 Exchanging ceiling--mounted robots 24..............................................

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1 General

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Valid for KR 350/2

KR 350 L280/2

KR 350 L240/2

1 General

In the following description, only the KR 350 will be depicted in the illustrations. The

information in the description applies to all robot variants, however. Exceptions to this

will be clearly marked.

The Doc. Module “Safety, General” and the robot Doc. Module “Repair, General”

are to be observed!

With all work involving the connection of the robot (and of the control cabinet),

the control cabinet Doc. Module “Initial Start--up” must be observed.

Before any installation and exchange work is started, any attached tools or additional equip-

ment that would hinder the installation and exchange work must be dismounted.

The fork lift truck, lifting tackle and crane must be suitable for handling the

robot. For weight of robot see robot Doc. Module “Technical Data”.

The description of the installation and exchange operations is subdivided into job steps with

numbers in brackets appearing before them. The text which immediately follows these steps

must also be read if it is specially marked by a warning triangle or either of the hand

symbols, as many of these marked texts refer to the preceding job step.

Example

(8) Lower the robot slowly without tilting it.

The robot must be lowered vertically downwards until both locating pins are

free.

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Some of the specially marked texts refer exclusively to everything that follows -- until the

instruction is expressly revoked or the work is completed at the end of a section.

Example

Turn main switch on the robot control cabinet to “OFF” and secure it with a pad-

lock to prevent unauthorized persons from switching it on again.

2 Principal loads

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2 Principal loads

Forces occur during operation of the robot which must be safely transmitted to the floor or

ceiling. The forces that have to be taken into account for floor-- and ceiling--mounted robots

are specified in Fig. 1. The drawings with their specifications can be used as a basis for more

extensive static investigations.

Fv= vertical force Fvmax = 28 000 N

Fh= horizontal force Fhmax = 15 000 N

Mk= tilting moment Mkmax = 50 000 Nm

Mr= turning moment about axis 1 Mrmax = 26 500 Nm

Total mass = robot + total load for type

1940 kg + 500 kg KR 350/2

1956 kg + 430 kg KR 350 L280/2

1965 kg + 390 kg KR 350 L240/2

Fig. 1 Principal loads acting on floor (or ceiling) due to robot and total load

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3 Mounting variants

Depending on the type, the robot can be installed on the floor or on the ceiling.

There are two mounting variations for installing the robot on the floor or on the ceiling:

GVariant 1 (394.001--08.002), see Section 3.1

GVariant 2 (394.001--08.003), see Section 3.2

If the robot is to be installed on the floor, being directly mounted on a concrete base, all perti-

nent construction specifications must be observed concerning the grade of concrete (∫B25

according to DIN 1045) and the load--bearing capacity of the ground when preparing the con-

crete foundation. It must be ensured that the surface of the foundation is level and sufficiently

smooth. The anchors must be inserted with great care to ensure that the forces occurring

during the operation of the robot (Fig. 1) are transmitted safely to the ground.

3 Mounting variants (continued)

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3.1 Variant 1 (394.001--08.002)

Characteristic features:

-- For floor-- and ceiling--mounted robots

-- Robot installed on a steel structure prepared by the customer (or on a linear unit

of series KL 1500)

-- Robot fastened by means of eight M24x100--8.8 ISO 4017 hexagon bolts.

Retighten M24x100--8.8 ISO 4017 hexagon bolts after 100 hours of operation.

Tightening torque MA= 700 Nm.

Accessory: “frame mounting kit”

(1) Prepare mounting surfaces (Fig. 2/1) on steel structure in accordance with Fig. 2.

M24

min. 115

min. 350

220

(2x)

970

Fig. 2 Mounting surfaces for variant 1

(2) Drill eight holes for holding--down bolts (Fig. 3/3) and two holes for the locating pins

(2,5)asshowninFig.3.

The intended installation position of the robot, i.e. the correct orientation in relation to

the working envelope (Fig. 3/4), must be taken into account when drilling the holes.

(3) Insert locating pins (2, 5) and fasten each one with an M8x55 Allen screw (1) together

with lock washer.

The position of the locating pins in relation to the working envelope is important:

Looking forwards (4) from the robot towards the working envelope -- the robot arm

points in this direction when A 1 is in its zero position --, then the sword pin (2) must be

on the right and the round pin (5) on the left.

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Section X - X

90rotated

21 3

min. 25

max. 6

ISO 4017 M24x100--8.8

1050

970 ¦0,1

960

220

min 115

min. 350

410

820

480

min 115

1050

20 H7

M24

MA=700 Nm

front

Fig. 3 Robot installation, variant 1

The steel foundation is now ready for the robot to be installed. The procedure for installing

the robot is described in Section 4.1 for floor--mounted robots, and in Section 4.2 for ceiling--

mounted robots.

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