Kuka KR 150-2 Spécifications Du Produit page 22

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.
±0.06 mm
Repeat-
ability
Drive electromechanical, with transis-
system tor--controlled brushless AC ser-
vomotors
Principal see Figure 3--20, 3--21
dimen-
sions
Weight KR 150--2
KR 150 L130--2
KR 150 L110--2
KR 180--2
KR 180 L150--2
KR 180 L130--2
KR 210--2
KR 210 L180--2
KR 210 L150--2
KR 240--2
KR 240 L210--2
KR 240 L180--2
KR 240--2 C
KR 240 L210--2 C
KR 240 L180--2 C
KR 270--2
Sound < 75 dB (A) outside the working
level envelope
Mounting KR 240--2 and variants: floor
position KR 240--2 C and variants: floor
KR 270--2:
KR 180 L130--2 CR:
All other types:
floor or ceiling (permissible angle
of inclination ≤ 5˚).
Installa- see Section 1.3
tion
22 Spez KR 150--2, 180--2, 210--2, 240--2, KR 240--2 C, 270--2 de/en/fr
Load center of gravity P
see Figures 3--2 to 3--17
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 240 mm and the
vertical distance (Lxy) from rotational axis 6 is
270 mm (nominal distance in each case).
Working envelope
The shape and dimensions of the working
envelope may be noted from Figure 3--20 and
3--21.
Working volume
The volume of the working envelope is as follows:
KR 150--2
KR 150 L130--2
KR 150 L110--2
KR 180--2
KR 180 L150--2
1245 kg
KR 180 L130--2
1255 kg
KR 210--2
1263 kg
KR 210 L180--2
1267 kg
KR 210 L150--2
1277 kg
KR 240--2
1285 kg
KR 240 L210--2
1267 kg
KR 240 L180--2
1277 kg
KR 240--2 C
1285 kg
KR 240 L210--2 C
1267 kg
KR 240 L180--2 C
1277 kg
KR 270--2
1285 kg
1267 kg
1277 kg The reference point is the intersection of axes 4
1285 kg and 5.
1267 kg
Ambient temperature
D During operation:
283 K to 328 K (+10 °C to +55 °C)
D During operation with SafeRDC:
278 K to 323 K (+5 °C to +50 °C)
D During storage and transportation:
floor
233 K to 333 K (--40 °C to +60 °C)
floor
Other temperature limits available on request.
Installed motor capacity
KR 150--2
KR 180--2
KR 210--2
KR 240--2
KR 240--2 C
KR 270--2
3
approx. 55 m
3
approx. 72.9 m
3
approx. 93 m
3
approx. 55 m
3
approx. 72.9 m
3
approx. 93 m
3
approx. 55 m
3
approx. 72.9 m
3
approx. 93 m
3
approx. 55 m
3
approx. 72.9 m
3
approx. 93 m
3
ca. 40 m
3
ca. 50 m
3
ca. 62 m
3
approx. 55 m
21.60 kW
22.80 kW
23.40 kW
22.80 kW
22.80 kW
22.80 kW
04.2004.10