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KUKA Palletizing Robots

KUKA Palletizing Robots
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Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en Robots KUKA Roboter GmbH KR 300 PA, KR 470 PA Specification

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© Copyright 2010 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 KUKA Roboter GmbH. 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...

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Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en 5 / 63 1. Product description 1 Product description 1.1 Overview of the robot system The robot system consists of the following components: .. Robot .. Robot controller .. KCP teach pendant .. Connecting cables .. Software .. Options, accessories 1.2 Description of the robot Overview This robot is designed as a 5-axis jointed-arm kinematic system. The structural components of the robots are made of light alloy and iron castings. The axes are driven by AC servomotors. A hydropnuematic counterbalancing system is used to equalize the load...

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6 / 63 Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en KR 300 PA, KR 470 PA Wrist The robot variants KR 300 PA and KR 470 PA robots are equipped with a twoaxis wrist for rated payloads of 300 kg and 470 kg, respectively. The wrist is fastened to the arm via a gear unit and motor and is driven by these. The main components of the wrist are the swing frame, axis 6 motor and the corresponding gear unit. The mounting flange embodies the output side of axis 6. The motor unit consists of a brushless AC servomotor with a permanent-magnet single-disk brake and hollow-shaft resolver, both...

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Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en 7 / 63 1. Product description stop for each direction, plus and minus. The buffers are attached to the arm. The corresponding stops are situated on the link arm. Link arm The link arm is the assembly located between the arm and the rotating column. It is mounted on one side of the rotating column via the gear unit of axis 2 and is driven by an AC servomotor. During motion about axis 2, the link arm moves about the stationary rotating column. The cable harness of the electrical installations is routed inside the link arm and is mounted in...

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8 / 63 Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en KR 300 PA, KR 470 PA

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Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en 9 / 63 2. Technical data 2 Technical data 2.1 Basic data Basic data Transport dimensions Ambient temperature Type KR 300 PA KR 470 PA Number of axes 5 Volume of working envelope 73.5 m³ Repeatability (ISO 9283) KR 300 PA ±0.08 mm KR 470 PA ±0.08 mm Working envelope reference point Intersection of axis 6 with the mounting flange face Reach 3,150 mm Weight of robot 1,940 kg Weight of transport frame 212 kg Principal dynamic loads See Loads acting on the foundation Protection classification of the robot IP 65 ready for operation, with...

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10 / 63 Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en KR 300 PA, KR 470 PA Connecting cables For connecting cables longer than 25 m an additional ground conductor is provided and must be installed. For detailed specifications of the connecting cables, see (>>> 4.3 "Connecting cables and interfaces" page 45) 2.2 Axis data Axis data The following data are valid for the robot KR 300 PA. The following data are valid for the robot KR 470 PA. * Maximum value, referred to the link arm, depending on the position of axis 2 Start-up +10 °C to +15 °C (283 K to 288 K) At these temperatures the...

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Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en 11 / 63 2. Technical data The direction of motion and the arrangement of the individual axes may be noted from the diagram (>>> Fig. 2-1). Working envelope The diagram (>>> Fig. 2-2) shows the shape and size of the working envelope. The reference point for the working envelope is the intersection of axis 6 with the mounting flange face. Fig. 2-1: Direction of rotation of robot axes

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12 / 63 Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en KR 300 PA, KR 470 PA Fig. 2-2: Working envelope: KR 300 470 PA

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Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en 13 / 63 2. Technical data 2.3 Payloads Payloads 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 axis 6. Refer to the payload diagram for the nominal distance. Payload diagram Robot KR 300 PA KR 470 PA Wrist Hollow-shaft wrist Hollow-shaft wrist Rated payload 300 kg 470 kg Distance of the load center of gravity Lz 100 mm 100 mm Distance of the load center of gravity Lxy 300 mm 300 mm Permissible moment of inertia 150 kgm2 235 kgm2 Max. total load 350 kg...

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14 / 63 Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en KR 300 PA, KR 470 PA Mounting flange *The inner locating diameter is ø 125 H7. This deviates from the standard. Fig. 2-4: Payload diagram for KR 470 PA This loading curve corresponds 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 the KUKA Robot GmbH must be consulted beforehand. The values determined here are necessary for planning the robot...

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Issued: 19.07.2010 Version: Spez KR 300 470 PA V3 en 15 / 63 2. Technical data The mounting flange is depicted (>>> Fig. 2-5) with axis 6 in the zero position. The symbol Xm indicates the position of the locating element (bushing) in the zero position. Supplementary load The robot can carry supplementary loads on the arm. When mounting the supplementary loads, be careful to observe the maximum permissible total load. The dimensions and positions of the installation options can be seen in the diagram. All other threads and holes on the robot are not suitable for attaching additional loads...

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