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

ContentsContents1 Introduction .................................................................................................. 51.1 Industrial robot documentation ................................................................................... 51.2 Representation of warnings and notes ...................................................................... 52 Purpose ........................................................................................................ 72.1 Target group .............................................................................................................. 72.2 Intended use .............................................................................................................. 73 Product description ..................................................................................... 93.1 Overview of the robot system .................................................................................... 93.2 Description of the robot .............................................................................................. 94 Technical data .............................................................................................. 134.1 Basic data .................................................................................................................. 134.2 Axis data .................................................................................................................... 144.3 Payloads .................................................................................................................... 174.4 Loads acting on the mounting base ........................................................................... 234.5 Transport dimensions ................................................................................................ 244.6 Plates and labels ........................................................................................................ 274.7 Stopping distances and times, KR 16 arc HW ........................................................... 294.7.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 294.7.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 304.7.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 324.7.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 344.8 Stopping distances and times, KR 16 L8 arc HW ...................................................... 344.8.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 ................... 344.8.2 Stopping distances and stopping times for STOP 1, axis 1 .................................. 354.8.3 Stopping distances and stopping times for STOP 1, axis 2 .................................. 374.8.4 Stopping distances and stopping times for STOP 1, axis 3 .................................. 395 Safety ............................................................................................................ 415.1 General ...................................................................................................................... 415.1.1 Liability .................................................................................................................. 415.1.2 Intended use of the industrial robot ...................................................................... 425.1.3 EC declaration of conformity and declaration of incorporation ............................. 425.1.4 Terms used ........................................................................................................... 435.2 Personnel ................................................................................................................... 445.3 Workspace, safety zone and danger zone ................................................................. 455.4 Overview of protective equipment .............................................................................. 465.4.1 Mechanical end stops ........................................................................................... 465.4.2 Mechanical axis range limitation (optional) ........................................................... 465.4.3 Axis range monitoring (optional) ........................................................................... 475.4.4 Options for moving the manipulator without the robot controller .......................... 475.4.5 Labeling on the industrial robot ............................................................................. 485.5 Safety measures ........................................................................................................ 495.5.1 General safety measures ...................................................................................... 495.5.2 Transportation ....................................................................................................... 505.5.3 Start-up and recommissioning .............................................................................. 50Issued: 19.04.2013 Version: Spez KR 16 arc HW V6 en (PDF)3 / 79