Interchangeability; Transportation - Kuka KR 100 comp Spezifikation

1.4 Interchangeability

In manufacturing systems with a large number of
robots, it is important for the robots to be readily
interchangeable. This is ensured by
-- the reproducibility of the synchronization
positions marked by the manufacturer on all
axes, the so--called mechanical zero positions,
and
-- the computer--aided zero adjustment proce-
dure,
and is additionally supported by
-- off--line programming, which can be carried out
in advance and remotely from the robot, and
-- the reproducible installation of the robot.
After service and maintenance work (on the wrist
and motors, for example), it is necessary to
establish coincidence between the electrical and
mechanical zero positions (calibration) of the
robot. A gauge cartridge is mounted by the
manufacturer on each robot axis for this purpose.
These gauge cartridges are set
manufacturer when the robot is calibrated prior to
shipment. The fact that measurements on each
axis are always made using the same cartridge
means that maximum accuracy is achieved both
when first calibrating the mechanical zero position
and when subsequently relocating it.
The position of the mechanical probe fitted in the
gage cartridge can be displayed by screwing an
electronic probe (KTL mastering set), available as
an accessory, onto the cartridge. The position
sensing system is automatically set to electrical
zero when the probe passes the reference notch
during the adjustment procedure.
The robot can resume operation once the zero
adjustment has been carried out on all axes.
The procedures described make it possible for the
programs, once defined, to be transferred at any
time to any other robot of the same type.
12 Spez KR 100 comp, KR 140 comp, KR 200 comp de/en/fr

1.5 Transportation

It must be ensured that the robot is stable
while it is being transported. The robot must
remain in its transport position as long as it is
not fastened to the foundation.
There are two methods of transporting the robot
(Fig. 1--8):
With lifting tackle and crane
The robot can be suspended from the hook of a
crane by means of lifting tackle attached to three
eyebolts on the rotating column.
Only approved lifting tackle with an adequate
carrying
transporting the robot by crane.
With fork lift truck
For transport by fork lift truck, two fork slots
(accessories) must be attached to the rotating
column.
No lifting
transporting the robot in conjunction with a
by the fork lift truck.
Before being transported, the robot must be
brought into its transport position (Fig. 1--9):
A1 A2
0˚ --142˚
These angle specifications refer to the display on
the KCP for the robot axis concerned and are valid
for all robot types described.
Dimensions for packing the robot in a container:
Robot type
KR 100 comp
KR 140 comp
KR 140 L120 comp
KR 140 L100 comp
KR 200 comp
KR 200 L170 comp
KR 200 L140 comp
capacity may be
tackle may be used
A3 A4 A5
+148˚ 0˚ --100˚
L B
(mm) (mm)
1590 1184
1590 1184
1790 1184
1990 1184
1590 1184
1790 1184
1990 1184
used for
when
A6
any
H
(mm)
1630
1630
1630
1630
1630
1630
1630
05.2004.03