kuka各版本随机文档接口与设计用kr_30_45ro_me_01_15_02_en_h

1、ROBOT(V)KR 30 L15/2Technical DataManipulatorRo/Me/01/15.02 10.98.02 en1 of 15e Copyright KUKA Roboter GmbHThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation

2、 may be operable in the controller. The user has no claim 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 re

3、ason 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 ubsequent editions.Subject to technical alterations without an effect on the function.PD InterleafRo/Me/01/15.02 10.98.02 e

4、n2 of 15Contents1General .52Principal data. . . . . 6Ro/Me/01/15.02 10.98.02 en3 of 15Technical DataRo/Me/01/15.02 10.98.02 en4 of 151GeneralValid for(V)KR 30 L15/21GeneralThe robot is a six-axis industrial robot fortallation on the floor or ceiling. It is suitable forall continuous-path controlled

5、tasks. The main areas of application are-Handling AssemblyApplication of adhesives, sealants and preservatives MachiningMIG/MAG weldingYAG laser beam weldingFigure 1 shows the robot system, comprising the manipulator (= robot), control cabinet and connecting cables.12374651 Arm2 In-line wrist3 Link

6、arm4 Rotating column5 Base frame6 Connecting cables7 Control cabinet (see separate documentation)Fig. 1 Principal robot componentsRo/Me/01/15.02 10.98.02 en5 of 15Using the robot for purposes other than those mentioned above is considered contrary to its designated use.2Principal dataTypeNumber of a

7、xes Load limitsKR 30 L15/26 (Fig. 3)see the following table and Fig. 21 IW = in-line wristTotal distributed loadSupp. loadPayloadPFig. 2 Load distributionAxis dataSee the following table.Ro/Me/01/15.02 10.98.02 en6 of15Robot typeKR 30 L15/2Wrist (IW)1IW 15Rated payload kg15Max. supplementary load wi

8、th rated payload kg35Max. total distributed load kg50Technical Data2Principal data (continued)KR 30 L15/2GIn-line wrist, rated payload 15 kgAxisRange of motion software-limitedVelocity1851100/s+93to-40275/s+68to-210375/s3504230/s135163/s5350240/s6+A 3-A1+A5-+-A 4+-+-A6-A2Fig. 3 Rotational axes and d

9、irections of rotation in motion of the robotRepeatability 0.15 mmDrive systemElectromechanical, with transistor-controlled AC servomotorsLoad center of gravity PSee Fig. 4.For the rated payload, the horizontal distance of the load center of gravity P from the face of the mounting flange is 150 mm; t

10、he vertical distance from rotational axis 6 is 120 mm (nominal dis- tance in each case).Working envelopeThe shape and dimensions of the working envelope may be noted from Fig. 6.approx. 85 m3The reference point is the intersection of axes 4 and 5.Volume of working envelopeRo/Me/01/15.02 10.98.02 en7

11、 of 15Robot flange coordinate systemLxy =L x2 + Ly2-X-Z+Y* Maximum moment of inertia of the payload, referred to the principal axes passing through the center of gravity of the payload (kg m2).-Y+X+ZLxyLxLzLyLxy (mm)Load center ofgravity4003005 kg7 kg2009 kg11 kg13 kgNominal distance120100LzLz (mm)3

12、00400500600100200Lxy1401670150Nominal distanceLoad center ofgravityFig. 4 Load center of gravity P and loading curves for KR 30 L15/2Ro/Me/01/15.02 10.98.02 en8 of 1515 kgPayload (kg)* Principal moment of inertia Is (kg m2)150.2313119740.110.08The values determined here are necessary for

13、 planning the robot application. For com- missioning the robot, additional input data are required in accordance with the KUKA software documentation.These loading curves and the values in the table correspond to the maximum load capacity. Both values (payload and principal moment of inertia) must b

14、e checked in all cases. Exceeding this capacity will reduce the service life of the robot and generally overload the motors and the gears; in any such case KUKA must be consulted beforehand.Technical Data2Principal data (continued)DIN/ISO1 mounting flange (Fig. 5). The mounting flange is depicted wi

15、th axes 4 and 6 in the zero position. The symbol indicates the position of the locating element (bushing). M6 screws of quality 10.9 are to be used for attaching payloads. The grip length of the screws in the flange must be at least 1.5 x nominal diameter.Mounting flange1 DIN/ISO 9409-1-A50258Xm8x45

16、456H7, 6+0.5 deep 140to A 4/A 5 50 6+0.25,50.5M6, 9+1 deepM6 fastening screws Grade 10.9Depth of engagement: min. 6 mmmax. 10 mmFig. 5DIN/ISO mounting flange for in-line wrist 15 kgRo/Me/01/15.02 10.98.02 en9 of 1513214231.5H763h7Load center of gravity PSupplementary loadY26761670140 +68 150 - -40+9

17、37384109219091354173230864995CAUTION: The interference radius (safe area) lies approx. 145 mm beyond the reference point for the working envelope.- -185NOTE: The center of gravity of the supplementary load must be located as close as possible to rotational axis 3 and to line “a” in Fig. 7.The refere

18、nce point for theR 3086+185workingenvelopeistheintersection of rotational axes 4 and 5.View Y see Fig. 7.Interference radius of the mounting flangeAngle specifications are referred to the mechanical zero position of the robot.Fig. 6 Principal dimensions (software values) and working envelopeRo/Me/01

19、/15.02 10.98.02 en10 of 1586510001458641204405145- -210Technical Data2Principal data (continued)View Yfrom Fig. 6195Center line A3aSupport brackets for suppl. load (2x)375Max. dimension for suppl. loadFig. 7 Attachment holes for supplementary loadFloor or ceiling. Permissible angle of inclination 20

20、Mounting positionPrincipal dynamic loadssee Fig. 8talled motor capacityapprox. 19.3 kWProtection classification of the robotIP 64ready for operation, with connecting cables plugged in (according to EN 60529)Ambient temperatureduring operation:283 K to 328 K (+10C to +55C),during storage and transpor

21、tation: 233 K to 333 K (-40C to +60C).Other temperature limits available on request.Weightapprox. 875 kgSound level 75 dB (A) outside the working envelope (Fig. 6)ColorsBase (stationary): black (RAL 9005). Moving parts: orange (RAL 2003).Platessee Fig. 9 to Fig. 17Ro/Me/01/15.02 10.98.02 en11 of 158

22、2M8 (4x)16 deep114160MkFv FhMrFv Fh Mk Mr= 15 600 N= 11 650 N= 27 000 Nm= 13 000 Nmvertical force horizontal force tilting momentturning moment about axis 1Fvmax Fhmax Mkmax MrmaxTotal mass=robot+total load875 kg+50 kgFig. 8 Principal loads acting on floor due to robot and total loadRo/Me/01/15.02 1

23、0.98.02 en12 of 15Technical Data2Principal data (continued)445671123Fig. 9 Plates on robot (see also Fig. 10 to Fig. 17)12xFig. 10tructions regarding transport position for floor-mounted and ceiling-mounted robotsOn all motors.2Fig. 11 Drive motor rating plateRo/Me/01/15.02 10.98.02 en13 of15.Transp

24、ortstellung:Transport position:Position de transport:ACHTUNG!WARNING!ATTENTION!Vor dem Lsen derThe robot must beLe robot doit tre Fundamentbefesti-in the transportamen en position gungsschraubenposition before thede transport avant de mu der Roboter inholding-down boltsdesserrer les boulons Transpor

25、tstellungare slackened!de fixation des gebracht werden!fondations!Artikel-Nr. 71-050-823 D/GB/FA1A2A3A4A5A60- -40+660+904x on all motors3Fig. 12 Hot surface warning sign42xFig. 13tructions for safeguarding agat toppling of A 2, A 35Fig. 14 Robot identification plate (example)Ro/Me/01/15.02 10.98.02 en14 of 15KUKA Roboter GmbH Augsburg/GermanyD/GB/FGewichtWeightPoids930kgZeichn.-Nr. Draw. No. Plan No.391.-BaujahrDateAnne de fab. 1996Werk-Nr.Serial No. No.Srie720-TypTypeType