Kr 10 Scara R600, R850

Transcript

KUKA Robot Group Specification KR 10 scara R600, R850 Specification valid for all Z variants Issued: 08.05.2007 Version: 3.1 V3.1 08.05.200 KR 10 scara R600, R850 © Copyright 2007 KUKA Roboter GmbH Zugspitzstraße 140 D-86165 Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the KUKA ROBOT GROUP. Other functions not described in this documentation may be operable in the controller. The user has no claims 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 the subsequent edition. Subject to technical alterations without an effect on the function. KIM-PS4-DOC V0.4 2 / 49 22.03.200 6 pub de V3.1 08.05.2007 SP-KR10scara en Contents Contents 1 Product description ......................................................................................... 5 1.1 Overview of the robot system ......................................................................................... 5 1.2 Description of the KR 10 scara robot .............................................................................. 5 1.3 Description of the connecting cables .............................................................................. 6 2 Technical data .................................................................................................. 11 2.1 Basic data ....................................................................................................................... 11 2.2 Axis data ......................................................................................................................... 12 2.3 Payloads ......................................................................................................................... 17 2.4 Loads acting on the foundation ....................................................................................... 20 2.5 Additional data ................................................................................................................ 21 3 Safety ................................................................................................................ 21 3.1 Designated use ............................................................................................................... 21 3.2 System planning ............................................................................................................. 21 3.2.1 EC declaration of conformity and declaration of incorporation .................................. 21 3.2.2 Installation site ........................................................................................................... 21 3.2.3 External safeguards ................................................................................................... 22 3.2.4 Workspace, safety zone and danger zone ................................................................ 22 Description ...................................................................................................................... 23 3.3 3.3.1 Category of the safety-oriented circuits ..................................................................... 23 3.3.2 Stop reactions ............................................................................................................ 23 3.3.3 Labeling on the robot system ..................................................................................... 24 3.3.4 Safety information ...................................................................................................... 25 3.4 Safety features ................................................................................................................ 25 3.4.1 Overview of the safety features ................................................................................. 25 3.4.2 ESC safety logic ........................................................................................................ 25 3.4.3 Operator safety input ................................................................................................. 26 3.4.4 EMERGENCY STOP button ...................................................................................... 26 3.4.5 Enabling switches ...................................................................................................... 26 3.4.6 Jog mode ................................................................................................................... 27 3.4.7 Mechanical end stops ................................................................................................ 27 3.4.8 Software limit switches .............................................................................................. 27 3.5 Personnel ........................................................................................................................ 28 3.6 Safety measures ............................................................................................................. 29 General safety measures ........................................................................................... 29 3.6.2 Transportation ............................................................................................................ 29 3.6.3 Start-up ...................................................................................................................... 30 3.6.4 Programming ............................................................................................................. 30 3.6.5 Automatic mode ......................................................................................................... 31 4 Planning ............................................................................................................ 33 4.1 Fastening to mounting base ........................................................................................... 33 4.2 Connecting cables and interfaces ................................................................................... 33 5 Transportation .................................................................................................. 35 3.6.1 V3.1 08.05.2007 SP-KR10scara en 3 / 49 KR 10 scara R600, R850 5.1 Transporting the robot .................................................................................................... 35 6 Applied norms and regulations ...................................................................... 39 7 KUKA Service ................................................................................................... 41 7.1 Requesting support ......................................................................................................... 41 7.2 KUKA Customer Support ................................................................................................ 41 Index .................................................................................................................. 47 4 / 49 V3.1 08.05.2007 SP-KR10scara en 1. Product description 1 Product description 1.1 Overview of the robot system A robot system consists of the following components: „ Robot „ Robot controller „ KCP teach pendant „ Connecting cables „ Software „ Options, accessories Fig. 1-1: Example of a robot system 1 2 1.2 Robot Robot controller 3 4 Teach pendant (KCP) Connecting cables Description of the KR 10 scara robot Overview The robot is a 4-axis jointed-arm robot made of cast light alloy. All motor units and current-carrying cables are protected against dirt and moisture beneath screwed-on cover plates. The robot consists of the following principal components: V3.1 08.05.2007 SP-KR10scara en „ Arm „ Link arm „ Base frame „ Electrical installations „ Spindle 5 / 49 KR 10 scara R600, R850 Fig. 1-2: Principal components 1 2 3 Arm Spindle Link arm 4 5 Base frame Electrical installations The arm incorporates axes 2, 3 and 4. Axes 2 and 4 are rotational axes, whereas axis 3 is a translational axis. All motors for these axes are contained in the arm. Axis 2 is driven directly via a gear unit, while for axes 3 and 4 there is an upstream toothed belt stage. The motors of these two axes are also equipped with brakes. Arm The mounting flange can be attached to the interface of axis 4. The arm also accommodates the 10-contact circular connector of the wrist I/O cable. Link arm The link arm is purely a hollow structural element which is mounted on and driven by the base frame at one end and screwed to the drive element of the arm at the other. The supply lines and signal cables for the drives of axes 2 and 4, and the lines of the energy supply system (wrist I/O cable and compressed air lines) are routed through the link arm. Base frame The base frame is the base of the robot. The motor for axis 1 is installed in it. It constitutes the interface for the connecting cables between the robot, the robot controller and the energy supply system. All connecting cables are accommodated at the rear of the base frame. The base frame also houses the backup batteries for backing up the axis data of the position sensing system. 1.3 Description of the connecting cables Configuration The connecting cables are used to transfer power and signals between the robot controller and the robot. The connecting cables include: 6 / 49 „ Motor/data cable „ Wrist I/O cable (optional) V3.1 08.05.2007 SP-KR10scara en 1. Product description The motor/data cable has a single shared connector at each end and is connected to the A 1 interface of the robot and to the robot controller. The wrist I/ O cable also has plug-in connectors. All connecting cables are available in the lengths: 4 m, 6 m and 12 m. Cable designation The following connecting cables are available: Cable designation Connector designation: robot controller - robot Motor/data cable X20 - CN22 Wrist I/O cable X32 - CN20 KUKA art. no. 00-141-794 (4 m) 00-141-800 (6 m) 00-141-801 (12 m) 00-145-545 (4 m) 00-145-546 (6 m) 00-145-548 (12 m) (optional) The ground conductor is not included in the scope of supply of the robot. The ground conductor is connected using an M5 cable lug. Bypack connector The bypack connector is available for the arm interface. Connector designation KUKA art. no. CN21 00-144-916 The bypack connector is not included in the scope of supply of the robot. Connector pin allocation: motor/ data cable The following tables show the connector pin allocation of the motor/data cable with connector X20 on the robot controller and connector CN22 on the robot. Only those pins actually connected according to the wiring diagram are assigned. Fig. 1-3: Connector X20 - CN22 V3.1 08.05.2007 SP-KR10scara en Connector X20 A Connector CN22 Signal Description Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin P Pin W Pin U Pin b Pin F Pin L Pin M Pin V +24 V 0V_24 DNC-B3 DNC-B4 DNC-B5 DNC-B3 DN-ENCRX DN-ENCRXR 24 V DC 0V Brake 3 Brake 4 Brake 5 Brake 6 Encoder (RX) Encoder (RXR) 7 / 49 KR 10 scara R600, R850 Connector X20 A Connector CN22 Pin 9 Pin e Pin 10 Pin f Pin 11 Pin c Pin 12 Pin d Overall shield at both ends on connector housing Connector X20 B Connector CN22 Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 Pin 14 Pin 15 Pin 16 Pin 17 Pin 18 Pin 19 Pin 20 ---- Pin j Pin h Pin H Pin N Pin r Pin n Pin J Pin G Pin p Pin g Pin R Pin a Pin K Pin E Pin B Pin S Pin A Pin C Pin D Pin T Pin s Overall shield at both ends on connector housing Wrist I/O cable connector pin allocation 8 / 49 Signal Description LED_H LED_R DNC-B1 DNC-B2 ---- Spare Spare Brake 1 Brake 2 ---- Signal Description 1U 2U 6U DNB-GND 1V 2V 6V DNC-B_EMG 1W 2W 6W 3U 4U 4V 5U 3V 4W 5V 5W 3W Ground conductor ---- Motor A 1 U Motor A 2 U Motor A 6 U GND brake Motor A 1 V Motor A 2 V Motor A 6 V Spare Motor A 1 W Motor A 2 W Motor A 6 W Motor A 3 U Motor A 4 U Motor A 4 V Motor A 5 U Motor A 3 V Motor A 4 W Motor A 5 V Motor A 5 W Motor A 3 W Module frame ---- The following table represents the connector pin allocation of the wrist I/O cable with connector X32 on the robot controller and connector CN20 on the robot. V3.1 08.05.2007 SP-KR10scara en 1. Product description Fig. 1-4: Connector X32 - CN20 Connector X32 Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 Pin 14 Pin 15 Pin 16 Pin 17 Pin 18 Pin 19 Pin 20 Pin 21 Pin 22 Pin 23 Pin 24 Pin 25 Connector CN20 Pin 13 Pin 14 Pin 15 Pin 16 Pin 3 Pin 4 Pin 5 Pin 12 Pin 2 Pin 11 N. C. N. C. N. C. Pin 17 Pin 18 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 Pin 1 Pin 19 Pin 20 N. C. N. C. Signal $OUT9 $OUT11 $OUT13 $OUT15 $IN9 $IN11 $IN13 0 V internal 0 V internal Spare N. C. N. C. N. C. $OUT10 $OUT12 $OUT14 $OUT16 $IN10 $IN12 $IN14 24 V internal 24 V internal Spare N. C. N. C. Assignment of the I/O signals in the IOSYS.INI file: [SRIO] INB0=0 OUTB0=0 INB0=1 OUTB0=1 V3.1 08.05.2007 SP-KR10scara en ;$IN[1...8] ;$OUT[1...7] ;$IN[9...14] ;$OUT[9...16] 9 / 49 KR 10 scara R600, R850 10 / 49 V3.1 08.05.2007 SP-KR10scara en 2. Technical data 2 Technical data 2.1 Basic data Basic data Type Number of axes Volume of working envelope KR 10 scara R600, KR 10 scara R850 4 KR 10 scara R600 Z300 0.296 m3 KR 10 scara R600 Z400 0.395 m3 KR 10 scara R850 Z300 0.606 m3 Repeatability (ISO 9283) Working envelope reference point Weight Principal dynamic loads Protection classification of the robot Sound level Mounting position Surface finish, paintwork Vibration stress Operation Storage and transportation Ambient temperature Operation KR 10 scara R850 Z400 0.807 m3 KR 10 scara R600 ±0.020 mm KR 10 scara R850 ±0.025 mm Intersection of axis 4 and the end face of axis 4 approx. 50 kg See Loads acting on the foundation IP 30, ready for operation, with connecting cables plugged in (according to EN 60529) < 75 dB (A) outside the working envelope Floor or ceiling Plastic: white, paintwork: white, base frame: black No permanent vibration stress permissible Brief, one-off: 0.5 g Brief, one-off: 3 g 273 K to 313 K (0 °C to +40 °C) Relative air humidity ≤ 90% Storage and transportation No condensation permissible. 263 K to 333 K (-10 °C to +60 °C) Relative air humidity ≤ 75% No condensation permissible. Ambient conditions The following ambient conditions must be observed when installing the robot: Operation V3.1 08.05.2007 SP-KR10scara en „ Free from inflammable dust, gases and liquids „ Free from aggressive and corrosive gases and liquids „ Free from flying parts „ Free from spraying liquids „ Free from electromagnetic loads, e.g. from welding equipment or high-frequency converters 11 / 49 KR 10 scara R600, R850 Connecting cables Cable lengths: 4 m, 6 m, 12 m The connecting cables consist of the motor/data cable and the wrist I/O cable. The following connector designations and connections are used: Cable designation Motor/data cable Wrist I/O cable Ground conductor Connector designation X20 - CN22 X32 - CN20 PE Robot controller - Robot Harting circular connector D-Sub circular connector M5 cable lug at each end For detailed specifications of the connecting cables, see (>>> 1.3 "Description of the connecting cables" page 6) 2.2 Axis data The data are valid for the floor-mounted KR 10 scara R600 and KR 10 scara R850 robots. Axis data Axis Range of motion, softwarelimited Speed with rated payload 10 kg 1 +/-165° 375 °/s with R600 2 +/-143° with R600 335 °/s with R850 555 °/s with R600 3 +/-147° with R850 +300 mm with Z300 500 °/s with R850 2 300 mm/s 4 +400 mm with Z400 +/-360° 1 485 °/s The direction of motion and the arrangement of the individual axes may be noted from the following diagram. 12 / 49 V3.1 08.05.2007 SP-KR10scara en 2. Technical data Fig. 2-1: Robot axes Working envelope V3.1 08.05.2007 SP-KR10scara en The following diagrams show the shape and size of the working envelopes. 13 / 49 KR 10 scara R600, R850 Fig. 2-2: Working envelope KR 10 scara R600 Z300 14 / 49 V3.1 08.05.2007 SP-KR10scara en 2. Technical data Fig. 2-3: Working envelope KR 10 scara R600 Z400 V3.1 08.05.2007 SP-KR10scara en 15 / 49 KR 10 scara R600, R850 Fig. 2-4: Working envelope KR 10 scara R850 Z300 16 / 49 V3.1 08.05.2007 SP-KR10scara en 2. Technical data Fig. 2-5: Working envelope KR 10 scara R850 Z400 2.3 Payloads Payloads V3.1 08.05.2007 SP-KR10scara en Robot Rated payload Distance of the load center of gravity Lx KR 10 scara 10 kg 80 mm Distance of the load center of gravity Ly 0 mm Distance of the load center of gravity Lz 100 mm Max. total load 10 kg 17 / 49 KR 10 scara R600, R850 Load center of gravity P For all payloads, the load center of gravity refers to the distance from the face of the mounting flange on rotational axis 4. Fig. 2-6: Payload on the robot 1 2 3 4 Payload diagram FLANGE coordinate system Load center of gravity Robot Distances LX, LY, LZ of the load center of gravity Permissible mass inertia at the design point (Lx, Ly, Lz) is 0.25 kgm². Fig. 2-7: Payload diagram The following diagram shows the maximum permissible velocities v and accelerations a as a function of the mass moment of inertia. 18 / 49 V3.1 08.05.2007 SP-KR10scara en 2. Technical data Fig. 2-8: Reduction factors for velocity and acceleration 1 2 Acceleration limit a Velocity limit v Example: In accordance with diagram (>>> Fig. 2-8), the following maximum values are permissible for a mass moment of inertia of 0.2 kgm²: Acceleration aperm 56% amax Velocity vperm 75% vmax These loading curves correspond to the maximum load capacity. Both values (payload and principal moment of inertia) must be checked in all cases. Exceeding this capacity will reduce the service life of the robot and overload the motors and the gears; in any such case KUKA Roboter must be consulted beforehand. The values determined here are necessary for planning the robot application. For commissioning the robot, additional input data are required in accordance with operating and programming instructions of the KUKA System Software. The mass inertia must be verified using KUKA Load. It is imperative for the load data to be entered in the robot controller! Mounting flange The mounting flange is not included in the scope of supply of the robot. Mounting flange Screw quality Screw size Grip length Depth of engagement Locating element V3.1 08.05.2007 SP-KR10scara en DIN/ISO 9409-1-A31,5 10.9 M5.5 1.5 x nominal diameter 6 mm 5 H7 19 / 49 KR 10 scara R600, R850 Fig. 2-9: Mounting flange (optional) The mounting flange can also be made by the user if required. For this, the following dimensions must be taken into consideration. Fig. 2-10: Interface A 4 Supplementary load 2.4 The robot cannot carry supplementary loads. Loads acting on the foundation Loads acting on the foundation The specified forces and moments already include the payload and the inertia force (weight) of the robot. Fig. 2-11: Loads acting on the foundation 20 / 49 V3.1 08.05.2007 SP-KR10scara en 2. Technical data Type of load Force/torque/mass Fv = vertical force Fvmax = 500 N Fh = horizontal force Fhmax = 6 850 N for R600 Fhmax = 6 600 N for R850 2.5 Mr = torque Mrmax = 2 400 Nm Total mass Robot mass Total load 60 kg 50 kg 10 kg Additional data Accessories Only accessories authorized and offered by KUKA may be used for this robot. All items of equipment must possess the appropriate certification and declarations of conformity. Fastening threads The fastening holes serve for fastening the covers, axis range limitations or cable harnesses. Fig. 2-12: KR 10 scara R600 fastening threads 1 2 3 4 holes, M4, 10 mm deep Arm Link arm Fig. 2-13: KR 10 scara R850 fastening threads 1 2 3 V3.1 08.05.2007 SP-KR10scara en 6 holes, M4, 10 mm deep Arm Link arm 21 / 49 3. Safety 3 Safety 3.1 Designated use Handling and machining workpieces in dry rooms. Use „ Misuse Any use or applications deviating from the designated use is deemed to be impermissible misuse; examples of such misuse include: „ Transportation of persons and animals „ Use as a climbing aid „ Operation outside the permissible operating parameters „ Use in potentially explosive environments Important information! The robot system is an integral part of an overall system and may only be operated in a CE-compliant system. 3.2 System planning 3.2.1 EC declaration of conformity and declaration of incorporation EC declaration of conformity The system integrator must issue a declaration of conformity for the overall system in accordance with Directive 98/37/EC (Machinery Directive). The declaration of conformity forms the basis for the CE mark for the system. The robot system must be operated in accordance with the applicable national laws, regulations and standards. The robot controller has a CE mark in accordance with Directive 89/336/EEC (EMC Directive) and Directive 73/23/EEC (Low Voltage Directive). Declaration of incorporation 3.2.2 A declaration of incorporation is provided for the robot system. This declaration of incorporation contains the stipulation that the robot system must not be commissioned until it complies with the provisions of 98/37/EC (Machinery Directive). Installation site Robot When planning the system, it must be ensured that the installation site (floor, wall, ceiling) has the required grade of concrete and load-bearing capacity. The principal loads acting on the mounting base are indicated in the specifications. Further information is contained in the robot operating instructions. Robot controller It is imperative to comply with the minimum clearances of the robot controller from walls, cabinets and other system components. Further information is contained in the robot controller operating instructions. V3.1 08.05.2007 SP-KR10scara en 21 / 49 KR 10 scara R600, R850 3.2.3 External safeguards EMERGENCY STOP Additional Emergency Stop devices can be connected via interface X11 or linked together by means of higher-level controllers (e.g. PLC). The input/output signals and any necessary external power supplies must ensure a safe state in the case of an Emergency Stop. Further information is contained in the robot controller operating instructions. Safety fences Requirements on safety fences are: „ Safety fences must withstand all forces that are likely to occur in the course of operation, whether from inside or outside the enclosure. „ Safety fences must not, themselves, constitute a hazard. „ It is imperative to comply with the minimum clearances from the danger zone. Further information is contained in the corresponding standards and regulations. Safety gates Requirements on safety gates are: „ The number of safety gates in the fencing must be kept to a minimum. „ All safety gates must be safeguarded by means of an operator safety system (interface X11). „ Automatic mode must be prevented until all safety gates are closed. „ In Automatic mode, the safety gate can be mechanically locked by means of a safety system. „ If the safety gate is opened in Automatic mode, it must trigger an Emergency Stop function. „ If the safety gate is closed, the robot cannot be started immediately in Automatic mode. The message on the control panel must be acknowledged. Further information is contained in the corresponding standards and regulations. Other safety equipment 3.2.4 Other safety equipment must be integrated into the system in accordance with the corresponding standards and regulations. Workspace, safety zone and danger zone Workspaces are to be restricted to the necessary minimum size. A workspace must be safeguarded using appropriate safeguards. The danger zone consists of the workspace and the braking distances of the robot. It must be safeguarded by means of protective barriers to prevent danger to persons or the risk of material damage. 22 / 49 V3.1 08.05.2007 SP-KR10scara en 3. Safety Fig. 3-1: Example of axis range A1 1 2 3 Workspace Robot Braking distance 4 5 3.3 Description 3.3.1 Category of the safety-oriented circuits Safety zone Braking distance The following circuits correspond to Category 3 in accordance with EN 954-1: 3.3.2 „ EMERGENCY STOP systems „ Enabling switches „ Operator safety „ Operating modes „ Qualifying inputs Stop reactions Stop reactions of the robot system are triggered in response to operator actions or as a reaction to monitoring functions and error messages. The following table shows the different stop reactions according to the operating mode that has been set. STOP 0, STOP 1 and STOP 2 are the stop definitions according to EN 60204. Trigger T1, T2 AUT, AUT EXT EMERGENCY STOP pressed Path-oriented braking (STOP 0) Path-maintaining braking (STOP 1) - Start key released V3.1 08.05.2007 SP-KR10scara en Ramp-down braking (STOP 2) 23 / 49 KR 10 scara R600, R850 Trigger T1, T2 Enabling switch released Safety gate opened Path-oriented braking (STOP 0) - "Drives OFF" key pressed Change operating mode Encoder error (DSE-RDC connection broken) Motion enable canceled STOP key pressed Robot controller switched off AUT, AUT EXT - Path-maintaining braking (STOP 1) Path-oriented braking (STOP 0) Path-oriented braking (STOP 0) Short-circuit braking (STOP 0) Ramp-down braking (STOP 2) Ramp-down braking (STOP 2) Short-circuit braking (STOP 0) Power failure 3.3.3 Stop reaction Drives Brakes Software Ramp-down braking (STOP 2) Path-maintaining braking (STOP 1) Drives remain on. Brakes remain open. Brakes are applied after 1 s at latest. Path-oriented braking (STOP 0) Drives are switched off after 1 second hardware delay. Drives are switched off immediately. Normal ramp which is used for acceleration and deceleration. In this time the controller brakes the robot on the path using a steeper stop ramp. Brakes are applied immediately. Short-circuit braking (STOP 0) Drives are switched off immediately. Brakes are applied immediately. The controller attempts to brake the robot on the path with the remaining energy. If the voltage is not sufficient, the robot leaves the programmed path. - Labeling on the robot system It is forbidden (unmapped Character \x2028)to remove, cover, obliterate, paint over or alter in any other way detracting from their clear visibility „ rating plates, „ warning labels, „ safety symbols, „ designation labels and „ cable markings on the robot system. 24 / 49 V3.1 08.05.2007 SP-KR10scara en 3. Safety 3.3.4 Safety information Safety information cannot be held against the KUKA Robot Group. Even if all safety instructions are followed, this is not a guarantee that the robot system will not cause personal injuries or material damage. No modifications may be carried out to the robot system without the authorization of the KUKA Robot Group. Additional components (tools, software, etc.), not supplied by KUKA Robot Group, may be integrated into the robot system. The user is liable for any damage these components may cause to the robot system. 3.4 Safety features 3.4.1 Overview of the safety features The following table indicates the operating modes in which the safety features are active. Safety features T1 T2 AUT AUT EXT - - active active EMERGENCY STOP button active active active active Enabling switches active active - - Reduced velocity active - - - Jog mode active active - - Software limit switches active active active active Operator safety Danger! In the absence of functional safety equipment, the robot can cause personal injury or material damage. No safety equipment may be dismantled or deactivated while the robot is in operation. 3.4.2 ESC safety logic The ESC (Electronic Safety Circuit) safety logic is a dual-channel computeraided safety system. It permanently monitors all connected safety-relevant components. In the event of a fault or interruption in the safety circuit, the power supply to the drives is shut off, thus bringing the robot system to a standstill. The ESC safety logic monitors the following inputs: „ Local EMERGENCY STOP „ External EMERGENCY STOP „ Operator safety „ Enabling „ Drives OFF „ Drives ON „ Operating modes „ Qualifying inputs Further information is contained in the robot controller operating instructions. V3.1 08.05.2007 SP-KR10scara en 25 / 49 KR 10 scara R600, R850 3.4.3 Operator safety input The operator safety input is used for interlocking fixed guards. Safety equipment, such as safety gates, can be connected to the dual-channel input. If nothing is connected to this input, operation in Automatic mode is not possible. Operator safety is not active for test modes T1 and T2. In the event of a loss of signal during Automatic operation (e.g. safety gate is opened), the drives are deactivated and the robot stops with maximum deceleration. Once the signal is active at the input again (e.g. safety gate closed and signal acknowledged), Automatic operation can be resumed. Operator safety can be connected via interface X11. Further information is contained in the robot controller operating instructions. 3.4.4 EMERGENCY STOP button The EMERGENCY STOP button for the robot system is located on the KCP. If the EMERGENCY STOP button is pressed, the drives are deactivated and the robot stops with maximum deceleration. The EMERGENCY STOP button must be pressed as soon as persons or equipment are endangered. Before operation can be resumed, the EMERGENCY STOP button must be turned to release it and the error message must be acknowledged. Fig. 3-2: EMERGENCY STOP button on the KCP 1 3.4.5 EMERGENCY STOP button Enabling switches There are 3 enabling switches installed on the KCP. These 3-position enabling switches can be used to switch on the drives in modes T1 and T2. In the test modes, the robot can only be moved if one of the enabling switches is held in the central position. If the enabling switch is released or pressed fully down (panic position), the drives are deactivated and the robot stops with maximum deceleration. 26 / 49 V3.1 08.05.2007 SP-KR10scara en 3. Safety Fig. 3-3: Enabling switches on the KCP 1-3 3.4.6 Enabling switches Jog mode In modes T1 and T2, the robot can only be moved in jog mode. For this, an enabling switch and the Start key must be kept held down. If the enabling switch is released or pressed fully down (panic position), the drives are deactivated and the robot stops with maximum deceleration. Releasing the Start key causes the robot to be stopped with a STOP 2. 3.4.7 Mechanical end stops The axis ranges of the main axes A 1 to A 3 are limited by mechanical end stops. Danger! If the robot hits an obstruction, a mechanical end stop or an axis range limitation, this can result in material damage to the robot. The KUKA Robot Group must be consulted before the robot is put back into operation (>>> 7 "KUKA Service" page 41). The mechanical end stop or the axis range limitation affected must be exchanged immediately. After a collision at more than 250 mm/s the robot must be exchanged or recommissioning must be carried out by the KUKA Robot Group. 3.4.8 Software limit switches The axis ranges of all robot axes are limited by means of adjustable software limit switches. These software limit switches only serve as machine protection and must be adjusted in such a way that the robot cannot hit the mechanical limit stops. V3.1 08.05.2007 SP-KR10scara en 27 / 49 KR 10 scara R600, R850 Further information is contained in the operating and programming instructions. 3.5 Personnel User The user of a robot system is responsible for its use. The user must ensure that it can be operated in complete safety and define all safety measures for personnel. System integrator The robot system is safely integrated into a plant by the system integrator. The system integrator is responsible for the following tasks: Operator Example „ Installing the robot system „ Connecting the robot system „ Implementing the required facilities „ Issuing the declaration of conformity „ Attaching the CE mark The operator must meet the following preconditions: „ The operator must have read and understood the robot system documentation, including the safety chapter. „ The operator must be trained for the work to be carried out. „ Work on the robot system must only be carried out by qualified personnel. These are people who, due to their specialist training, knowledge and experience, and their familiarization with the relevant standards, are able to assess the work to be carried out and detect any potential dangers. The tasks can be distributed as shown in the following table. Tasks 28 / 49 Operator Programmer Maintenance technician Switch robot controller on/off x x x Start program x x x Select program x x x Select operating mode x x x Calibration (tool, base) x x Master the robot x x Configuration x x Programming x x Start-up x Maintenance x Repair x Shut-down x Transportation x V3.1 08.05.2007 SP-KR10scara en 3. Safety Work on the electrical and mechanical equipment of the robot system may only be carried out by specially trained personnel. 3.6 Safety measures 3.6.1 General safety measures The robot system may only be used in technically perfect condition in accordance with its designated use and only by safety-conscious persons. Operator errors can result in personal injury and damage to property. It is important to be prepared for possible movements of the robot even after the robot controller has been switched off and locked. Incorrect installation (e.g. overload) or mechanical defects (e.g. brake defect) can cause the robot to sag. If work is to be carried out on a switched-off robot, the robot must first be moved into a position in which it is unable to move on its own, whether the payload is mounted or not. If this is not possible, the robot must be secured by appropriate means. The KCP must be removed from the system if it is not connected, as the EMERGENCY STOP button is not functional in such a case. KCP If there are several KCPs in a system, it must be ensured that they are not mixed up. An external keyboard or mouse may only be connected during service work (e.g. installation). If a mouse or a keyboard is connected, the system must not be operated and there must be no persons within the system. The following tasks must be carried out in the case of faults to the robot system: Faults 3.6.2 „ Switch off the robot controller and secure it (e.g. with a padlock) to prevent unauthorized persons from switching it on again. „ Indicate the fault by means of a label with a corresponding warning. „ Keep a record of the faults. „ Eliminate the fault and carry out a function test. Transportation Robot The prescribed transport position of the robot must be observed. Transportation must be carried out in accordance with the robot operating instructions. Further information is contained in the robot operating instructions. Robot controller The robot controller must be transported and installed in an upright position. Avoid vibrations and impacts during transportation in order to prevent damage to the robot controller. Further information is contained in the robot controller operating instructions. V3.1 08.05.2007 SP-KR10scara en 29 / 49 KR 10 scara R600, R850 3.6.3 Start-up The robot controller must not be put into operation until the internal temperature of the cabinet has adjusted to the ambient temperature. Otherwise, condensation could cause damage to electrical components. Function test It must be ensured that no persons or objects are present within the danger zone of the robot during the function test. The following must be checked during the function test: „ The robot system is installed and connected. There are no foreign bodies or destroyed, loose parts on the robot or in the robot controller. „ All safety devices and protective measures are complete and fully functional. „ All electrical connections are correct. „ The peripheral devices are correctly connected. „ The external environment corresponds to the permissible values indicated in the operating instructions. Further information is contained in the robot operating instructions and in the robot controller operating instructions. Setting It must be ensured that the ratings plate on the robot controller has the same machine data as those entered in the declaration of incorporation. The machine data on the ratings plate of the robot must be entered during start-up. The robot must not be moved unless the correct machine data are not loaded. Otherwise, damage to property could occur. Further information is contained in the operating and programming instructions. 3.6.4 Programming The following safety measures must be carried out during programming: „ It must be ensured that no persons are present within the danger zone of the robot during programming. „ New or modified programs must always be tested first in operating mode T1. „ If the drives are not required, they must be switched off to prevent the robot from being moved unintentionally. „ The motors reach temperatures during operation which can cause burns to the skin. Contact should be avoided if at all possible. If necessary, appropriate protective equipment must be used. „ The robot and its tooling must never touch or project beyond the safety fence. „ Components, tooling and other objects must not become jammed as a result of the robot motion, nor must they lead to short-circuits or be liable to fall off. The following safety measures must be carried out if programming in the danger zone of the robot: „ 30 / 49 The robot must only be moved at reduced velocity (max. 250 mm/s). In this way, persons have enough time to move out of the way of hazardous robot motions or to stop the robot. V3.1 08.05.2007 SP-KR10scara en 3. Safety 3.6.5 „ To prevent other persons from being able to move the robot, the KCP must be kept within reach of the programmer. „ If two or more persons are working in the system at the same time, they must all use an enabling switch. While the robot is being moved, all persons must remain in constant visual contact and have an unrestricted view of the robot system. Automatic mode Automatic mode is only permissible in compliance with the following safety measures. „ The prescribed safety equipment is present and operational. „ There are no persons in the system. „ The defined working procedures are adhered to. If the robot comes to a standstill for no apparent reason, the danger zone must not be entered until the EMERGENCY STOP function has been triggered. V3.1 08.05.2007 SP-KR10scara en 31 / 49 KR 10 scara R600, R850 32 / 49 V3.1 08.05.2007 SP-KR10scara en 4. Planning 4 Planning 4.1 Fastening to mounting base Description The robot is fastened directly to the mounting base with 4 bolts. A suitable steel construction can be used as the mounting base. The mounting surface must be at least 20 mm thick. It must be ensured that the steel structure is able to withstand safely and permanently the dynamic loads (>>> Fig. 2-11) to which it is subjected. In order to fasten the robot to a concrete foundation, a suitable steel plate must be prepared and fastened to the concrete foundation. The connecting cables to the robot controller must be installed in a cable duct. If required, additional measures must be taken to ensure electromagnetic compatibility (EMC). Caution! Installation, connection and start-up of the robot must be carried out in accordance with the applicable national laws and regulations. The robot may only be started up if the applicable regulations have been observed. Hole pattern The following holes must be used for mounting the robot. Fig. 4-1: Hole pattern 4.2 Connecting cables and interfaces Description The connecting cables comprise all the cables for transferring energy and signals between the robot and the robot controller. A control cable and 4 compressed air lines are also provided for the internal energy supply system. The robot is connected to the overall ground conductor system via its own ground conductor. Connector pin allocations and connector designations can be found in the chapter (>>> 1 "Product description" page 5). Interface A 1 V3.1 08.05.2007 SP-KR10scara en The diagram (>>> Fig. 4-2) shows the connecting cable interface on the robot and the connections for the energy supply system. 33 / 49 KR 10 scara R600, R850 Fig. 4-2: Interface A 1 1 2 3 4 5 6 7 8 Interface on arm Ground conductor connection, M5 Wrist I/O cable CN20 Compressed air connection AIR3, PT1/4 Compressed air connection AIR4, PT1/4 Compressed air connection AIR1, PT1/4 Compressed air connection AIR2, PT1/4 Balance cylinder connection, PT1/4 Motor/data cable CN22 The illustration (>>> Fig. 4-3) shows the interface on the arm. Fig. 4-3: Interface on arm 1 2 3 4 5 34 / 49 Compressed air connection AIR2, M5 Compressed air connection AIR4, M5 Compressed air connection AIR3, M5 Compressed air connection AIR1, M5 Connector CN21, wrist I/O cable V3.1 08.05.2007 SP-KR10scara en 5. Transportation 5 Transportation 5.1 Transporting the robot It must be ensured that the robot is stable while it is being transported. The robot must remain in its transport position until it has been fastened in position. Before the robot is lifted it must be ensured that it is free from obstructions. Remove all transport safeguards, such as nails and screws, in advance. First remove any rust or glue on contact surfaces. Transport position The robot must be in the transport position (>>> Fig. 5-1) before it can be transported. The robot is in the transport position when the axes are in the following positions: Type KR 10 scara R600 Z300 KR 10 scara R600 Z400 KR 10 scara R850 Z300 KR 10 scara R850 Z400 A 1 [°] 0 0 0 0 A 2 [°] -143 -147 -143 -147 A 3 [mm] +300 +350 +300 +350 A 4 [°] 0 0 0 0 Fig. 5-1: Transport position Transport dimensions V3.1 08.05.2007 SP-KR10scara en The dimensions for the robot transport can be noted from the following figure. The position of the center of mass and the weight vary according to the specific configuration. The specified dimensions refer to the robot without equipment. 35 / 49 KR 10 scara R600, R850 Fig. 5-2: Transport dimensions Type A [mm] KR 10 scara R600 Z300 KR 10 scara R600 Z400 KR 10 scara R850 Z300 KR 10 scara R850 Z400 Transportation 655 705 659 705 B [mm] C [mm] 523 523 627 627 388 388 449 449 The robot can be transported by fork lift truck or using lifting tackle. Caution! Use of unsuitable handling equipment may result in damage to the robot. Only use handling equipment with a sufficient load-bearing capacity. Only transport the robot in the manner specified here. Transportation by fork lift truck For transport by fork lift truck, the robot must be screwed to a pallet using 4 bolts. A Euro pallet or the pallet used for delivery is suitable for this purpose. Fig. 5-3: Transport with a fork lift truck Transportation using lifting tackle A floor-mounted robot can also be transported using lifting tackle. The robot must be in the transport position (>>> Fig. 5-1). The lifting tackle is attached to 2 eyebolts (>>> Fig. 5-4) (4) screwed into the base frame. Both ropes must be of the same length and must be routed in such a way that the robot is not damaged. Caution! The robot may tip during transportation. Risk of injury and damage to property. If the robot is being transported using lifting tackle, special care must be exercised to prevent it from tipping. Additional safeguarding measures must be taken. It is forbidden to pick up the robot in any other way using a crane! 36 / 49 V3.1 08.05.2007 SP-KR10scara en 5. Transportation Fig. 5-4: Lifting tackle 1 2 3 V3.1 08.05.2007 SP-KR10scara en Link arm Arm Lifting tackle 4 5 Eyebolts Base frame 37 / 49 KR 10 scara R600, R850 38 / 49 V3.1 08.05.2007 SP-KR10scara en 6. Applied norms and regulations 6 Applied norms and regulations Name Definition Edition 73/23/EEC Low Voltage Directive: 1993 89/336/EEC Council Directive of 19 February 1973 on the harmonization of the laws of Member States relating to electrical equipment designed for use within certain voltage limits EMC Directive: 1993 97/23/EC Council Directive of 3 May 1989 on the approximation of the laws of the Member States relating to electromagnetic compatibility Pressure Equipment Directive: 1997 98/37/EC Directive of the European Parliament and of the Council of 29 May 1997 on the approximation of the laws of the Member States concerning pressure equipment Machinery Directive: 1998 EN 418 Directive of the European Parliament and of the Council of 22 June 1998 on the approximation of the laws of the Member States relating to machinery Safety of machinery: 1993 EN 563 EMERGENCY STOP equipment, functional aspects; principles for design Safety of machinery: 2000 EN 614-1 Temperatures of touchable surfaces Ergonomics data to establish temperature limit values for hot surfaces Safety of machinery: 1995 EN 775 Ergonomic design principles – Part 1: Terms and general principles Industrial robots: 1993 EN 954-1 Safety Safety of machinery: 1997 EN 55011 EN 60204-1 Safety-related parts of control systems Part 1: General principles for design Industrial, scientific and medical (ISM) radio-frequency equipment – Radio disturbance characteristics – Limits and methods of measurement Safety of machinery: 2003 1998 Electrical equipment of machines - Part 1: General requirements V3.1 08.05.2007 SP-KR10scara en 39 / 49 KR 10 scara R600, R850 Name Definition Edition EN 61000-4-4 Electromagnetic compatibility (EMC): 2002 EN 61000-4-5 Part 4-4: Testing and measurement techniques - Electrical fast transient/burst immunity test Electromagnetic compatibility (EMC): 2001 EN 61000-6-2 Part 4-5: Testing and measurement techniques; Surge immunity test Electromagnetic compatibility (EMC): 2002 EN 61000-6-4 Part 6-2: Generic standards - Immunity for industrial environments Electromagnetic compatibility (EMC): 2002 EN 61800-3 Part 6-4: Generic standards; Emission standard for industrial environments Adjustable speed electrical power drive systems: 2001 EN ISO 12100-1 Part 3: EMC product standard including specific test methods Safety of machinery: 2004 EN ISO 12100-2 Basic concepts, general principles for design - Part 1: Basic terminology, methodology Safety of machinery: 2004 Basic concepts, general principles for design - Part 2: Technical principles 40 / 49 V3.1 08.05.2007 SP-KR10scara en 7. KUKA Service 7 KUKA Service 7.1 Requesting support Introduction The KUKA Robot Group documentation offers information on operation and provides assistance with troubleshooting. For further assistance, please contact your local KUKA subsidiary. Faults leading to production downtime are to be reported to the local KUKA subsidiary within one hour of their occurrence. Information 7.2 The following information is required for processing a support request: „ Model and serial number of the robot „ Model and serial number of the controller „ Model and serial number of the linear unit (if applicable) „ Version of the KUKA System Software „ Optional software or modifications „ Archive of the software „ Application used „ Any external axes used „ Description of the problem, duration and frequency of the fault KUKA Customer Support Availability KUKA Customer Support is available in many countries. Please do not hesitate to contact us if you have any questions. Argentina Ruben Costantini S.A. (Agency) Luis Angel Huergo 13 20 Parque Industrial 2400 San Francisco (CBA) Argentina Tel. +54 3564 421033 Fax +54 3564 428877 [email protected] Australia Marand Precision Engineering Pty. Ltd. (Agency) 153 Keys Road Moorabbin Victoria 31 89 Australia Tel. +61 3 8552-0600 Fax +61 3 8552-0605 [email protected] V3.1 08.05.2007 SP-KR10scara en 41 / 49 KR 10 scara R600, R850 Austria KUKA Roboter GmbH Vertriebsbüro Österreich Regensburger Strasse 9/1 4020 Linz Austria Tel. +43 732 784752 Fax +43 732 793880 [email protected] www.kuka-roboter.at Belgium KUKA Automatisering + Robots N.V. Centrum Zuid 1031 3530 Houthalen Belgium Tel. +32 11 516160 Fax +32 11 526794 [email protected] www.kuka.be Brazil KUKA Roboter do Brasil Ltda. Avenida Franz Liszt, 80 Parque Novo Mundo Jd. Guançã CEP 02151 900 São Paulo SP Brazil Tel. +55 11 69844900 Fax +55 11 62017883 [email protected] Chile Robotec S.A. (Agency) Santiago de Chile Chile Tel. +56 2 331-5951 Fax +56 2 331-5952 [email protected] www.robotec.cl China KUKA Flexible Manufacturing Equipment (Shanghai) Co., Ltd. Shanghai Qingpu Industrial Zone No. 502 Tianying Rd. 201712 Shanghai P.R. China Tel. +86 21 5922-8652 Fax +86 21 5922-8538 [email protected] www.kuka.cn 42 / 49 V3.1 08.05.2007 SP-KR10scara en 7. KUKA Service France KUKA Automatisme + Robotique SAS Techvallée 6 Avenue du Parc 91140 Villebon s/Yvette France Tel. +33 1 6931-6600 Fax +33 1 6931-6601 [email protected] www.kuka.fr Germany KUKA Roboter GmbH Blücherstr. 144 86165 Augsburg Germany Tel. +49 821 797-4000 Fax +49 821 797-1616 [email protected] www.kuka-roboter.de Hungary KUKA Robotics Hungaria Kft. Fö út 140 2335 Taksony Hungary Tel. +36 24 501609 Fax +36 24 477031 [email protected] India KUKA Robotics, Private Limited 621 Galleria Towers DLF Phase IV 122 002 Gurgaon Haryana India Tel. +91 124 4148574 [email protected] www.kuka.in Italy KUKA Roboter Italia S.p.A. Via Pavia 9/a - int.6 10098 Rivoli (TO) Italy Tel. +39 011 959-5013 Fax +39 011 959-5141 [email protected] www.kuka.it V3.1 08.05.2007 SP-KR10scara en 43 / 49 KR 10 scara R600, R850 Korea KUKA Robot Automation Korea Co. Ltd. 4 Ba 806 Sihwa Ind. Complex Sung-Gok Dong, Ansan City Kyunggi Do 425-110 Korea Tel. +82 31 496-9937 or -9938 Fax +82 31 496-9939 [email protected] Malaysia KUKA Robot Automation Sdn Bhd South East Asia Regional Office No. 24, Jalan TPP 1/10 Taman Industri Puchong 47100 Puchong Selangor Malaysia Tel. +60 3 8061-0613 or -0614 Fax +60 3 8061-7386 [email protected] Mexico KUKA de Mexico S. de R.L. de C.V. Rio San Joaquin #339, Local 5 Colonia Pensil Sur C.P. 11490 Mexico D.F. Mexico Tel. +52 55 5203-8407 Fax +52 55 5203-8148 [email protected] Norway KUKA Sveiseanlegg + Roboter Bryggeveien 9 2821 Gjövik Norway Tel. +47 61 133422 Fax +47 61 186200 [email protected] Portugal KUKA Sistemas de Automatización S.A. Rua do Alto da Guerra n° 50 Armazém 04 2910 011 Setúbal Portugal Tel. +351 265 729780 Fax +351 265 729782 [email protected] 44 / 49 V3.1 08.05.2007 SP-KR10scara en 7. KUKA Service Russia KUKA-VAZ Engineering Jushnoje Chaussee, 36 VAZ, PTO 445633 Togliatti Russia Tel. +7 8482 391249 or 370564 Fax +7 8482 736730 [email protected] South Africa Jendamark Automation LTD (Agency) 76a York Road North End 6000 Port Elizabeth South Africa Tel. +27 41 391 4700 Fax +27 41 373 3869 www.jendamark.co.za Spain KUKA Sistemas de Automatización S.A. Pol. Industrial Torrent de la Pastera Carrer del Bages s/n 08800 Vilanova i la Geltrú (Barcelona) Spain Tel. +34 93 814-2353 Fax +34 93 814-2950 [email protected] www.kuka-e.com Sweden KUKA Svetsanläggningar + Robotar AB A. Odhners gata 15 421 30 Västra Frölunda Sweden Tel. +46 31 7266-200 Fax +46 31 7266-201 [email protected] Switzerland KUKA Roboter Schweiz AG Riedstr. 7 8953 Dietikon Switzerland Tel. +41 44 74490-90 Fax +41 44 74490-91 [email protected] www.kuka-roboter.ch V3.1 08.05.2007 SP-KR10scara en 45 / 49 KR 10 scara R600, R850 Taiwan KUKA Robot Automation Taiwan Co. Ltd. 136, Section 2, Huanjung E. Road Jungli City, Taoyuan Taiwan 320 Tel. +886 3 4371902 Fax +886 3 2830023 [email protected] www.kuka.com.tw Thailand KUKA Robot Automation (M)SdnBhd Thailand Office c/o Maccall System Co. Ltd. 49/9-10 Soi Kingkaew 30 Kingkaew Road Tt. Rachatheva, A. Bangpli Samutprakarn 10540 Thailand Tel. +66 2 7502737 Fax +66 2 6612355 [email protected] www.kuka-roboter.de UK KUKA Automation + Robotics Hereward Rise Halesowen B62 8AN UK Tel. +44 121 585-0800 Fax +44 121 585-0900 [email protected] USA KUKA Robotics Corp. 22500 Key Drive Clinton Township 48036 Michigan USA Tel. +1 866 8735852 Fax +1 586 5692087 [email protected] www.kukarobotics.com 46 / 49 V3.1 08.05.2007 SP-KR10scara en Index Index Numbers 73/23/EEC 21, 39 89/336/EEC 21, 39 97/23/EC 39 98/37/EC 21, 39 A Accessories 5, 21 Additional data 21 Ambient conditions 11 Ambient temperature 11 Applied norms and regulations 39 Arm 6 Automatic mode 31 Axis data 12 B Base frame 6 Basic data 11 Brake defect 29 Braking distance 23 Braking, path-maintaining 24 Braking, path-oriented 24 Bypack connector 7 C Cable designation, connecting cables 7 Category 3 23 CE mark 21 Circuits, safety-oriented 23 Configuration, connecting cables 6 Connecting cables 5, 6, 12, 33 Connecting cables, description 6 Connector pin allocation, motor/data cable 7 D Declaration of incorporation 21 Description 23 Description of the robot system 5 Designated use 21 Dimensions, transport 35 Drives OFF 25 Drives ON 25 E EC declaration of conformity 21 Electrical installations 6 EMC Directive 21, 39 EMERGENCY STOP 22, 23 EMERGENCY STOP button 25, 26 EMERGENCY STOP function 31 EN 418 39 EN 55011 39 EN 563 39 EN 60204-1 39 EN 61000-4-4 40 EN 61000-4-5 40 V3.1 08.05.2007 SP-KR10scara en EN 61000-6-2 40 EN 61000-6-4 40 EN 614-1 39 EN 61800-3 40 EN 775 39 EN 954-1 23, 39 EN ISO 12100-1 40 EN ISO 12100-2 40 Enabling 25 Enabling switches 25, 26, 27 ESC 25 External EMERGENCY STOP 25 External safeguards 22 F Fastening threads 21 Fastening to mounting base 33 Faults 29 Fork lift truck 36 Function test 30 G General safety measures 29 Guard interlock 26 H Handling equipment 36 I Installation site 21 Interface A 33 Interface on arm 34 Interfaces 33 J Jog mode 25, 27 K KCP 5, 29 KUKA Customer Support 41 L Labeling 24 Lifting tackle 36 Link arm 6 Load bearing capacity of ceiling 21 Load bearing capacity of ground 21 Load bearing capacity of wall 21 Load center of gravity 18 Loads acting on the foundation 20 Local EMERGENCY STOP 25 Low Voltage Directive 21, 39 M Machinery Directive 21, 39 Mechanical end stops 27 Mounting flange 19 47 / 49 KR 10 scara R600, R850 O Operating modes 25 Operator 28 Operator safety 25, 26 Operator safety input 26 Options 5 Overload 29 Overview of the safety features 25 P Panic position 26, 27 Path-maintaining 24 Path-oriented 24 Payload diagram 18 Payloads 17 Pressure Equipment Directive 39 Principal components 5 Product description 5 Programming 30 U User 28 V Vibration stress 11 W Working envelope 13 Workspace 22, 23 Wrist I/O cable, connector pin allocation 8 R Ramp-down braking 24 Reduced velocity 25 Robot 5, 23 Robot controller 5 Robot system 5 S Safety 21 Safety features 25 Safety fences 22 Safety gates 22 Safety information 25 Safety logic 25 Safety zone 22, 23 Safety-oriented circuits 23 Service, KUKA Roboter 41 Setting 30 Short-circuit braking 24 Software 5 Software limit switches 25, 27 Spindle 6 Start-up 30 STOP 0 23 STOP 1 23 STOP 2 23 Stop reactions 23 Supplementary load 20 Support request 41 System integrator 21, 28 System planning 21 T Teach pendant 5 Technical data 11 Transport dimensions 35 Transport position 29, 35 Transportation 29, 35 48 / 49 V3.1 08.05.2007 SP-KR10scara en V3.1 08.05.2007 SP-KR10scara en 49 / 49