Accessories (Selection); Robot Installation; Additional Linear Axis; Integrated Energy Supply For Axis - Kuka KR 100 comp Spezifikation

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ACCESSORIES (selection)

2.1 Robot installation

There are three variants available for installing the
robot:
-- with mounting base kit (Fig. 1--4)
-- with machine base mounting kit (Fig. 1--5)
-- with booster frame (Fig. 1--6).
See Section 1.3 for a description.

2.2 Additional linear axis

With the aid of a linear unit as an additional
traversing axis, based on the KL 1500 series (Fig.
2--1), the robot can be moved translationally. The
axis is freely programmable.
2.3 Integrated energy supply for
axis 1
Various energy supply systems are available,
including systems for the applications "handling"
and "spot welding". In the area of axis 1, the
necessary supply lines run inside the robot from
the plug connection panel to an interface on the
arm (Fig. 2--2).
From here, additional supply lines can be routed
externally along the arm to an appropriate
interface on the end effector. This eliminates the
need for a space--consuming supply boom.
05.2004.03 Spez KR 100 comp, KR 140 comp, KR 200 comp de/en/fr

2.4 Working range monitoring

Standard version
Axes 1 and 2 can be equipped with position
switches or proximity switches, together with
slotted rings to which adjustable cams are
attached. This working range monitoring system
allows the position of the robot to be continuously
monitored.
Up to three sectors of the movement range can be
monitored on A 1, or a maximum of three sectors
can be monitored on A 1 and A 2 together.
If axis 2 is equipped with working range
monitoring, an "energy supply system for axis 1"
with an additional control cable is required.

2.5 Working range limitation

The movement ranges of axes 1 to 3 can be
limited by means of additional mechanical stops
as required by the application.

2.6 KTL mastering set

The zero adjustment operation, which is neces-
sary for all axes, can be performed with the aid of
the electronic probe belonging to a KTL mastering
set (Fig. 2--3 and 3--10). This probe provides a
particularly fast and simple means of measure-
ment and allows automatic, computer--aided
adjustment. It should be included in the order for
the robot.

2.7 Release device for robot axes

This device can be used to move the main axes
and wrist axes of the robot mechanically via the
drive motors after a malfunction. It should only be
used in emergencies (e.g. for freeing personnel).

2.8 Booster frame

The booster frame (Fig. 2--4) is a steel structure
on which the robot can be mounted (see also Sec-
tion 1.3 "Installation, Variant 3").
It is available in heights from 150 mm to 1950 mm
in 150 mm intervals.
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