KR 16 arc HW, KR 16 L8 arc HW - KUKA Robotics

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KR 16 arc HW, KR 16 L8 arc HWConnectingcablesCable designationConnector designationrobot controller - robotInterface with robotMotor cable X20 - X30 Harting connectors atboth endsData cable X21 - X31 Harting connectors atboth endsData cable, SafeRobot X21.1 - X41 Harting connectors atboth endsCable lengthsStandardWith RoboTeam*With SafeRobot*7 m, 15 m, 25 m, 35 m, 50 m7 m, 15 m, 25 m, 35 m7 m, 15 m, 25 m, 35 m* Only with KR C2.For detailed specifications of the connecting cables, see “Description of theconnecting cables” (>>> 6.4 "Connecting cables and interfaces" Page 61).4.2 Axis dataAxis dataThe following data are valid for the robot KR 16 arc HW:AxisRange of motion, softwarelimitedSpeed withrated payload1 +/-185° 200 °/s2 +35° to -155° 200 °/s3 +154° to -120° 195 °/s4 +/-165° 370 °/s5 +/-130° 310 °/s6 Infinitely rotating 610 °/sThe following data are valid for the robot KR 16 L8 arc HW:AxisRange of motion, softwarelimitedSpeed withrated payload1 +/-185° 127 °/s2 +35° to -155° 130 °/s3 +154° to -120° 125 °/s4 +/-165° 315 °/s5 +/-140° 320 °/s6 Infinitely rotating 680 °/sThe direction of motion and the arrangement of the individual axes may be notedfrom the following diagram.14 / 79 Issued: 19.04.2013 Version: Spez KR 16 arc HW V6 en (PDF)
4 Technical dataFig. 4-1: Direction of rotation of the axesWorkingenvelopeThe following diagrams show the shape and size of the working envelopes forthe robots KR 16 arc HW (>>> Fig. 4-2 ) and KR 16 L8 arc HW (>>> Fig. 4-3 ).The reference point for the working envelope is the intersection of axes 4 and5.Issued: 19.04.2013 Version: Spez KR 16 arc HW V6 en (PDF)15 / 79
Page 1 and 2: RobotsKUKA Roboter GmbHKR 16 arc HW
Page 3 and 4: ContentsContents1 Introduction ....
Page 5 and 6: 1 Introduction1 Introduction1.1 Ind
Page 7 and 8: 2 Purpose2 Purpose2.1 Target groupT
Page 9 and 10: 3 Product description3 Product desc
Page 11 and 12: 3 Product descriptionBase frameElec
Page 13: 4 Technical data4 Technical data4.1
Page 17 and 18: 4 Technical dataFig. 4-3: Working e
Page 19 and 20: 4 Technical dataPayload diagramFig.
Page 21 and 22: 4 Technical dataThe mounting flange
Page 23 and 24: 4 Technical dataFig. 4-9: Interface
Page 25 and 26: 4 Technical dataFig. 4-12: Transpor
Page 27 and 28: 4 Technical dataFig. 4-15: Transpor
Page 29 and 30: 4 Technical data4.7 Stopping distan
Page 31 and 32: 4 Technical dataFig. 4-18: Stopping
Page 33 and 34: 4 Technical dataFig. 4-20: Stopping
Page 35 and 36: 4 Technical data4.8.2 Stopping dist
Page 41 and 42: 5 Safety5 Safety5.1 General•This
Page 43 and 44: 5 Safetyhas been incorporated into
Page 45 and 46: 5 SafetyTasks Operator ProgrammerSw
Page 47 and 48: 5 SafetyIn the case of manipulators
Page 49 and 50: 5 Safety5.5 Safety measures5.5.1 Ge
Page 51 and 52: 5 SafetyIf additional components (e
Page 53 and 54: 5 Safety• Switch off the industri
Page 55 and 56: 5 SafetyName Definition EditionEN 6
Page 57 and 58: 6 Planning6 Planning6.1 Mounting ba
Page 59 and 60: 6 Planning1 Anchor 4 Bedplate2 Loca
Page 61 and 62: 6 PlanningFig. 6-6: Adapter plate1
Page 63 and 64: 7 Transportation7 Transportation7.1
Page 65 and 66:
7 TransportationFig. 7-4: Transport
Page 67 and 68:
7 TransportationFig. 7-6: Transport
Page 69 and 70:
8 KUKA Service8 KUKA Service8.1 Req
Page 71 and 72:
8 KUKA ServiceFranceKUKA Automatism
Page 73 and 74:
8 KUKA ServicePolandKUKA Roboter Au
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8 KUKA ServiceHungaryKUKA Robotics
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IndexIndexNumbers2004/108/EC 542006
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KR 16 arc HW, KR 16 L8 arc HWIssued
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KR 16 arc HW, KR 16 L8 arc HW - KUKA Robotics

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