Kuka KR 350, Installation & Connection Manual

Page 1: ...Ro Me 03 23 03 99 02 en 1 of 26 ROBOT KR 350 Installation Connection Exchange ...

Page 2: ...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 reason 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 in...

Page 3: ... Mounting variants 8 3 1 Variant 1 394 001 08 002 9 3 2 Variant 2 394 001 08 003 11 4 Installing and connecting the robot 15 4 1 Floor mounted robots 15 4 2 Ceiling mounted robots 17 5 Exchange 21 5 1 Exchanging floor mounted robots 21 5 2 Exchanging ceiling mounted robots 24 ...

Page 4: ...Installation Connection Exchange 4 of 26 Ro Me 03 23 03 99 02 en ...

Page 5: ...d exchange work is started any attached tools or additional equip ment that would hinder the installation and exchange work must be dismounted The fork lift truck lifting tackle and crane must be suitable for handling the robot For weight of robot see robot Doc Module Technical Data The description of the installation and exchange operations is subdivided into job steps with numbers in brackets ap...

Page 6: ...d texts refer exclusively to everything that follows until the instruction is expressly revoked or the work is completed at the end of a section Example Turn main switch on the robot control cabinet to OFF and secure it with a pad lock to prevent unauthorized persons from switching it on again ...

Page 7: ...n Fig 1 The drawings with their specifications can be used as a basis for more extensive static investigations Fv vertical force Fvmax 28 000 N Fh horizontal force Fhmax 15 000 N Mk tilting moment Mkmax 50 000 Nm Mr turning moment about axis 1 Mrmax 26 500 Nm Total mass robot total load for type 1940 kg 500 kg KR 350 2 1956 kg 430 kg KR 350 L280 2 1965 kg 390 kg KR 350 L240 2 Fh Fv Mr Mk Fig 1 Pri...

Page 8: ...3 2 If the robot is to be installed on the floor being directly mounted on a concrete base all perti nent construction specifications must be observed concerning the grade of concrete B25 according to DIN 1045 and the load bearing capacity of the ground when preparing the con crete foundation It must be ensured that the surface of the foundation is level and sufficiently smooth The anchors must be...

Page 9: ...15 min 350 220 M 8 2x 1 4x 970 Fig 2 Mounting surfaces for variant 1 2 Drill eight holes for holding down bolts Fig 3 3 and two holes for the locating pins 2 5 as shown in Fig 3 The intended installation position of the robot i e the correct orientation in relation to the working envelope Fig 3 4 must be taken into account when drilling the holes 3 Insert locating pins 2 5 and fasten each one with...

Page 10: ...0 1 960 960 220 220 min 115 min 350 410 410 820 480 min 115 1050 20 H7 M24 X X 2 3 4 5 M8 MA 700 Nm front Fig 3 Robot installation variant 1 The steel foundation is now ready for the robot to be installed The procedure for installing the robot is described in Section 4 1 for floor mounted robots and in Section 4 2 for ceiling mounted robots ...

Page 11: ...moval and installation with optimum repeatability of the installationposition Considerable differences in level of the foundation can be bridged Accessory mounting base kit 1 Insert a set up pin Fig 5 1 in two of the four intermediate plates 5 and fasten it with an M8x60 Allen screw 2 together with lock washer The set up pins 1 are only used to install the plates correctly on the floor They are th...

Page 12: ...and the intermediate plates must be corrected using levelling compound filling compound 4 Mark the position of the intermediate plates on the concrete foundation and determine the magnitude of the differences in level 5 Lift off robot again together with intermediate plates 1 2 3 4 5 Fig 5 Intermediate plates for variant 2 6 Apply levelling compound Fig 6 2 onto the marked areas on the concrete fo...

Page 13: ...t can be levelled by turning an M20x40 hexagon bolt Fig 4 4 on each intermediate plate 8 Allow the levelling compound to set for about three hours 9 Drill four anchor holes Fig 7 8 for each intermediate plate minimum depth in concrete 160 mm The holes in the concrete foundation must be drilled through the holes 5 in the plates 6 1 8 2 3 4 5 6 7 160 ø30 250 Fig 7 Anchor boreholes for variant 2 10 I...

Page 14: ...o position Fig 4 then the sword pin 5 must be on the right and the round pin 6 on the left Any levelling compound that has penetrated into the bottom of the holes must be removed from the eight tapped holes in the intermediate plates in order that the robot holding down bolts can be screwed in completely 15 Set robot down onto intermediate plates Fig 7 6 and fasten it by means of eight M24x100 hex...

Page 15: ...eforehand The procedure for installing the robot whether for the first time or as an exchange is as follows 1 Check that both locating pins Fig 8 2 and their fastening screws 1 are undamaged and fitted securely Damaged locating pins must be replaced by new ones 2 1 Fig 8 Locating pins The robot must be in the transport position Fig 9 A 1 A 2 A 3 A 4 A 5 A 6 0 40 60 0 90 any Angle specifications ar...

Page 16: ...r way using a fork lift truck 3 Lower robot Fig 10 3 vertically onto intermediate plates 5 or steel structure If lifting tackle is used particular care must be taken to ensure exact vertical positioning in order to avoid damaging the locating pins during this operation As the robot is lowered the boreholes 2 must be aligned as accurately as pos sible with the two locating pins 1 If this operation ...

Page 17: ...nal equipment working range monitoring devices etc is installed on the robot the instructions and warnings in the relevant Doc Modules must be strictly observed 9 Connect all other cables which have been removed 10 Put robot into operation 4 2 Ceiling mounted robots Section 1 of this Doc Module is to be observed This description only applies to ceiling mounted robots with mounting variant 1 Sectio...

Page 18: ... screws are undamaged and fitted securely Damaged locating pins must be replaced by new ones The robot must be in the transport position Fig 12 A 1 A 2 A 3 A 4 A 5 A 6 0 40 60 0 90 any Angle specifications are referred to the mechanical zero of the axis concerned I h l h KR 350 2 1690 2420 KR 350 L280 2 1780 2420 KR 350 L240 2 1960 2420 Fig 12 Transport position for ceiling mounted robots 2 Raise ...

Page 19: ... the robot on the ceiling 3 Insert eight M24x100 8 8 ISO 4017 hexagon bolts 4 together with lock washers and tighten them with a torque wrench in diagonally opposite sequence increasing the tight ening torque to the specified value in several stages MA 700 Nm Retighten M24x100 8 8 ISO 4017 hexagon bolts 4 after 100 hours of operation 4 Remove fork lift truck 5 Connect connecting cables Before perf...

Page 20: ...ontrol cabinet to OFF and secure it with a pad lock to prevent unauthorized persons from switching it on again 7 Install end effector and additional equipment If any additional equipment working range monitoring devices etc is installed on the robot the instructions and warnings in the relevant Doc Modules must be strictly observed 8 Connect all other cables which have been removed 9 Put robot int...

Page 21: ...additional equipment The end effector and additional equipment have to be removed if the robot is to be replaced by another one or if they would otherwise impede the exchange work If the end effector and additional equipment remain on the robot this is liable to lead to adverse centers of gravity and collisions The operator is deemed responsible for any damage resulting in this respect Before perf...

Page 22: ...gain 3 Release and unplug all connectors from the junction boxes Fig 15 1 4 Remove electric cables and hose lines from both interfaces of energy supply system A 1 and all other peripheral supply lines to the robot where necessary Depressurize and drain hose lines beforehand 5 Remove eight M24x100 8 8 ISO 4017 hexagon bolts 2 together with lock washers 6 Raise robot with lifting tackle 3 attached t...

Page 23: ...placed in the slots in the base frame or the transport frame It is forbidden to pick up the robot in any other way using a fork lift truck The robot must be lifted as vertically as possible until the locating pins are free 7 Lower robot onto a suitable support If the robot is not to be reinstalled for some time it must be protected against corrosion before being put into storage D Installation See...

Page 24: ...obot this is liable to lead to adverse centers of gravity and collisions The operator is deemed responsible for any damage resulting in this respect Before performing the next step it must be ensured that it is not possible for anyone to be injured within the range of the slowly moving robot The robot may only be moved at manual traversing speed with all applicable safety rules and regulations bei...

Page 25: ...oth interfaces of energy supply system A 1 and all other peripheral supply lines to the robot where necessary Depressurize and drain hose lines beforehand If the robot is transported by fork lift truck the forks must be placed in the slots in the base frame It is forbidden to pick up the robot in any other way using a fork lift truck 5 Move the forks 3 of the fork lift truck into the slots designe...

Page 26: ...be lowered vertically downwards until both locating pins are free 8 Suspend robot in transport frame and if it needs to be turned over into the floor mount ing position base frame at bottom arm at top turn the robot together with the trans port frame If the robot is not to be reinstalled for some time it must be protected against corrosion before being put into storage D Installation See Section 4...