Kuka KR 100 comp Spezifikation Seite 15

Axis data
The axis data may be noted from the following
pages. The axes and their possible motions are
depicted in Figure 1--3. Axes 1 to 3 are the main
axes, axes 4 to 6 the wrist axes.
All specifications in the "Range of motion" column
refer to the electrical zero position and to the
display on the KCP for the robot axis concerned.
Repeatability
±0.15 mm for all types described
Drive system
electromechanical, with
brushless AC servomotors
Principal dimensions
see Figure 3--11
Weight
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
Sound level
< 75 dB (A) outside the working envelope
Mounting position
All types: floor
(permissible angle of inclination ≤ 5˚).
Installation
see Section 1.3
Load center of gravity P
see Figures 3--2 to 3--8
For all rated payloads, the horizontal distance (Lz)
of the center of gravity of the payload P from the
face of the mounting flange is 210 mm and the
vertical distance (Lxy) from rotational axis 6 is
230 mm (nominal distance in each case).
Working envelope
The shape and dimensions of the working
envelope may be noted from Figure 3--11.
05.2004.03
transistor--controlled
1155 kg
1155 kg
1165 kg
1170 kg
1155 kg
1165 kg
1170 kg
Spez KR 100 comp, KR 140 comp, KR 200 comp de/en/fr
Working volume
The volume of the working envelope is as follows:
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
The reference point is the intersection of axes 4
and 5.
Ambient temperature
D During operation:
283 K to 328 K (+10 °C to +55 °C)
D During storage and transportation:
233 K to 333 K (--40 °C to +60 °C)
Other temperature limits available on request.
Installed motor capacity
KR 100 comp
KR 140 comp
KR 200 comp
Protection classification of the robot
IP 65 (according to EN 60529), ready for
operation, with connecting cables plugged in
Protection classification of the in- -line wrist
IP 65 (according to EN 60529), subject to
compliance with the specified maintenance
intervals
Mounting flange on axis 6
The robot is fitted with a DIN/ISO mounting flange
(DIN/ISO 9409--1--A160, see Fig. 3--9).
Screw grade for attaching end effector
Grip length
Depth of engagement
NOTE: The flange is depicted with all axes of
the robot, particularly axis 6, in the
zero position
indicates the position of the locating
element).
Colors
Base (stationary):
Moving parts:
Counterbalancing system:black
In--line wrist:
3
approx. 38.6 m
3
approx. 38.6 m
3
approx. 51.2 m
3
approx. 66.0 m
3
approx. 38.6 m
3
approx. 51.2 m
3
approx. 66.0 m
20.40 kW
20.40 kW
20.40 kW
10.9
min. 1.5 x d
min. 12 mm
max. 14 mm
(the symbol
black (RAL 9005)
orange (RAL 2003)
(RAL 9005)
orange (RAL 2003)
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