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ACCESSORIES (selection)
The robot KR 16 EX may only be used with the
appropriate accessories offered and approved by
KUKA for this purpose. See Section 3.1 for
operation conditions.
2.1 Robot installation
There are two variants available for installing the
robot:
-- with mounting base kit (Fig. 1--3)
-- with machine frame mounting kit (Fig. 1--4)
See Section 1.3 for a description.
2.2 Additional linear axis
With the aid of a linear unit as an additional
traversing axis, based on the KL 250/2 series (Fig.
2--1), the robot can be moved translationally. The
axis is freely programmable.
2.3 Integrated energy supply for
axis 1 to axis 3
Various energy supply systems are available, e.g.
for the application "handling". From the connector
panel, the necessary supply lines run inside the
base frame and then externally along the rotating
column and link arm to an interface on the arm
(Fig. 2--2).
From here, additional supply lines can be routed
externally along the arm to an appropriate
interface on the end effector. This eliminates the
need for a space--consuming supply boom.
2.4 Working range monitoring
Axes 1 and 2 can be equipped with position
switches and slotted rings to which adjustable
cams are attached. This allows the position of the
robot to be continuously monitored.
With "EX" variant robots, the use of working range
monitoring is not permitted.
14
2.5 Working range limitation
The movement ranges of axes 1 to 3 can be
limited by means of additional mechanical stops
as required by the application, adjustable in 22.5˚
steps.
2.6 KTL mastering set
The zero adjustment operation,
necessary for all axes, can be performed with the
aid of the electronic probe which comes as part of
a KTL mastering set (Fig. 3--5, 3--7). This probe
provides a particularly fast and simple means of
measurement
computer--aided mastering. It should be ordered
along with the robot.
2.7 Belt tension measuring device
Equipped with a microcontroller, the fully
electronic
pretension set in the toothed belt to be easily and
reliably measured by means of frequency
measurement (Fig. 2--4).
2.8 Release device for robot axes
This device can be used to move the axes of the
robot mechanically via the main axis drive motors
after a malfunction. It is only for use in
emergencies (e.g. for freeing personnel).
Spez KR 6, KR 16, KR 16 L6 de/en/fr
and
allows
for in- -line wrist
measuring
device
which is
automatic,
enables
the
06.2003.09
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