Robot Option KUKA Roboter GmbH

Working Range Limitation A1

For Product Family KR QUANTEC

Assembly and Operating Instructions

Issued: 31.08.2012

Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 Working Range Limitation A1

© Copyright 2012
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims 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, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC

Publication: Pub Option KR QUANTEC Arbeitsbereichsbegrenzung A1 (PDF) en

Bookstructure: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 V1.1
Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

2 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 Contents

Contents
1 Introduction .................................................................................................. 5
1.1 Documentation for the options ................................................................................... 5
1.2 Representation of warnings and notes ...................................................................... 5

2 Purpose ........................................................................................................ 7
2.1 Target group .............................................................................................................. 7
2.2 Intended use .............................................................................................................. 7

3 Product description ..................................................................................... 9

3.1 Working range limitation A1 ....................................................................................... 9

4 Technical data .............................................................................................. 11

4.1 Basic data, working range limitations ......................................................................... 11

5 Safety ............................................................................................................ 13
6 Planning ....................................................................................................... 15
6.1 Angle settings, working range limitation A1 ............................................................... 15

7 Transportation ............................................................................................. 17
8 Start-up and recommissioning ................................................................... 19
8.1 Installing working range limitation A1 ......................................................................... 19

9 Maintenance ................................................................................................. 21
9.1 Maintaining the working range limitation .................................................................... 21
9.2 Cleaning the working range limitation ........................................................................ 21

10 Decommissioning, storage and disposal .................................................. 23

10.1 Decommissioning ....................................................................................................... 23
10.2 Storage ...................................................................................................................... 25
10.3 Disposal ..................................................................................................................... 25

11 Appendix ...................................................................................................... 27
11.1 Tightening torque ....................................................................................................... 27

12 KUKA Service .............................................................................................. 29

12.1 Requesting support .................................................................................................... 29
12.2 KUKA Customer Support ........................................................................................... 29

Index ............................................................................................................. 37

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 3 / 39

 Working Range Limitation A1

4 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 1 Introduction

1 Introduction

1.1 Documentation for the options

The documentation for this option consists of the following parts:

 Assembly and operating instructions for this option
 Parts catalog for this option on storage medium
 Assembly and operating instructions for the higher-level system
Each of these sets of instructions is a separate document.

1.2 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

that death or severe physical injury will occur, if no pre-
cautions are taken.

These warnings mean that death or severe physical inju-

ry may occur, if no precautions are taken.

These warnings mean that minor physical injuries may

occur, if no precautions are taken.

These warnings mean that damage to property may oc-

cur, if no precautions are taken.

These warnings contain references to safety-relevant information or

general safety measures. These warnings do not refer to individual
hazards or individual precautionary measures.

Notes These hints serve to make your work easier or contain references to further
information.

Tip to make your work easier or reference to further information.

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 5 / 39

 Working Range Limitation A1

6 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 2 Purpose

2 Purpose

2.1 Target group

This documentation is aimed at users with the following knowledge and skills:
 Advanced knowledge of mechanical engineering
 Advanced knowledge of electrical and electronic systems
 Knowledge of the robot controller system

For optimal use of our products, we recommend that our customers

take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.

2.2 Intended use

Use The working range limitation for axis 1 enables additional limitation of the
working range.
The range of motion of axis 1 is limited by one or two supplementary stops that
can be retrofitted by means of screws.
Operating the system within the limits of its intended use also involves contin-
uous observance of the operating instructions of the robot and the options,
with particular attention to the maintenance work.

Misuse Any use or application deviating from the intended use is deemed to be imper-
missible misuse. The manufacturer cannot be held liable for any damage re-
sulting from such use. The risk lies entirely with the user.

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 7 / 39

 Working Range Limitation A1

8 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 3 Product description

3 Product description

3.1 Working range limitation A1

Description The working range (>>> Fig. 3-1 ) of axis 1 is additionally limited by one or two
supplementary stops that can subsequently be screwed to the rotating column
via gear unit A1. A supplementary stop can be fastened either side of the stan-
dard stop.
This mechanical limitation takes effect if a software limit switch is exceeded.
The supplementary stops then hit the trailing stop in the base frame and thus
limit the working range.
When installing a supplementary stop, the corresponding Allen screws must
be removed from the gear unit. After that the supplementary stop can be in-
stalled. For each stop there are six mounting positions available, enabling the
working range to be limited by 5° to 105° on both sides. Irrespective of the
combination of mounting positions, there always remains a minimum total
working range of 90° that cannot be limited.

Fig. 3-1: Working range limitation A1

1 Trailing stop 4 Base frame

2 Axis 1 gear unit 5 Supplementary stop
3 Standard stop

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 9 / 39

 Working Range Limitation A1

10 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 4 Technical data

4 Technical data

4.1 Basic data, working range limitations

Basic data Type Working range limitation A1

Number of supplemen- One stop on each side
tary stops
Angle increments 20°
Limitation range +/-5° to +/-105°
Non-limitable residual 90°
angle

Ambient temper- Operation 283 K to 328 K (+10 °C to +55 °C)

ature Storage and transpor- 233 K to 333 K (-40 °C to +60 °C)
tation
Humidity rating DIN EN 60721-3-3,
Class 3K3

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 11 / 39

 Working Range Limitation A1

12 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 5 Safety

5 Safety
For this assembly or option, the safety instructions of the higher-level system
with which it is operated apply. In addition, the safety instructions contained in
this documentation apply. All applicable safety measures required by national
law, as well as all regulations and ordinances for the avoidance of personal in-
jury and material damage, must likewise be observed at all times.
The relevant personal protective equipment must be worn during performance
of all work on the system, system components or equipment.

Unintentional robot motions can cause injuries and dam-

age to property. If work is carried out on an operational
robot, the robot must be secured by activating the EMERGENCY STOP de-
vice.
Warn all persons concerned before starting to put it back into operation.

When installing components and assemblies, the fasten-

ing screws (standard, strength class 8.8) must be tight-
ened with the specified KUKA tightening torque. Exceptions to this will be
clearly marked.
The specified screw sizes and strength classes are those valid at the copy
deadline. The specifications contained in the Parts Catalog are, however, al-
ways to be taken as the most up-to-date information.
Screws of strength class 10.9 and higher may only be tightened once with the
rated tightening torque. When the screws are next slackened they must be
replaced with new ones.

The standard stops of all axes must not be removed. The

working range limitation is always installed in addition to
the existing stops.
Death, severe injuries or considerable damage to property may otherwise re-
sult.

The software limit switches must always be adapted to

the new mechanical range of motion. If they are not
adapted, an operating error could cause the axis concerned to hit the me-
chanical stop, resulting in damage to property.

If the manipulator or an external axis hits an obstruction

or a mechanical end stop or axis range limitation, this
can result in material damage to the industrial robot. The manipulator must
be taken out of operation and KUKA Roboter GmbH must be consulted be-
fore it is put back into operation (>>> 12 "KUKA Service" Page 29).

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 13 / 39

 Working Range Limitation A1

14 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 6 Planning

6 Planning

6.1 Angle settings, working range limitation A1

Description The available working range limits are shown in the following illustration
(>>> Fig. 6-1 ). The angle of +/-185° is achieved when no supplementary stop
is installed and thus corresponds to the standard design. The supplementary
stops can be used to limit the angle of the working range in 20° steps.
The largest limitation angle that can be selected is +/-105°. The smallest avail-
able angle is 5° in each direction.
The following diagram shows the available angles in the minus direction. The
same ranges are available in the plus direction. The numbers in the diagram
indicate the mounting position of the supplementary stop and the resultant re-
maining angle. The table shows all the available ranges.

Fig. 6-1: Angle settings, working range limitation A1

1 Mounting position 1 4 Mounting position 4

2 Mounting position 2 5 Mounting position 5
3 Mounting position 3 6 Mounting position 6

This table gives the possible combinations of the supplementary stops and the
resultant remaining angles.

+185° +105° +85° +65° +45° +25° +5°

MP 1 MP 2 MP 3 MP 4 MP 5 MP 6
-185° + + + + + +
-105° - +- +- +- +- +- +-
MP 1
-85° - +- +- +- +- +- +-
MP 2
-65° - +- +- +- +- +- X
MP 3
-45° - +- +- +- +- X X
MP 4

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 15 / 39

 Working Range Limitation A1

+185° +105° +85° +65° +45° +25° +5°

MP 1 MP 2 MP 3 MP 4 MP 5 MP 6
-25° - +- +- +- X X X
MP 5
-5° - +- +- X X X X
MP 6

+ = supplementary stop in plus direction

- = supplementary stop in minus direction
X = position not possible
MP = mounting position of supplementary stop

16 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 7 Transportation

7 Transportation
The component must be suitably and properly packaged for transportation.
The components must be protected against damage with shock-resistant and
break-proof packaging.
The following measures are to be taken before assemblies and individual com-
ponents are transported:
 Clean components.
 Assign small parts to their respective components in plastic bags to pre-
vent them from getting lost.
 Protect components against impacts and slipping; fill gaps with suitable
approved padding materials.
Mark transport cases and packing according to the sensitivity of their contents
(e.g. TOP, FRAGILE, DO NOT BEND) and attach labels to ensure correct
transportation (e.g. indication of center of gravity). In addition to these mea-
sures, the regulations and conditions of the company entrusted with the trans-
portation are to be observed.

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 17 / 39

 Working Range Limitation A1

18 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 8 Start-up and recommissioning

8 Start-up and recommissioning

8.1 Installing working range limitation A1

Description The working range limitation for A1 is mounted on gear unit A1.

Preconditions  The installation area is freely accessible.

 The robot can be moved in axis 1.

When carrying out the following work, the robot must be

moved several times between the individual work steps.
While work is being carried out on the robot, it must always be secured by
activating the EMERGENCY STOP device.
Unintentional robot motions can cause injuries and damage to property. If
work is carried out on an operational robot that is switched on, the robot can
only be moved in T1 mode (reduced velocity). It must be possible to stop the
robot at any time by activating an EMERGENCY STOP device. Operation
must be limited to what is absolutely necessary.
Warn all persons concerned before switching on and moving the robot.

Procedure 1. Determine the installation range of each supplementary stop (>>> Fig. 8-
1 ).
2. Put the robot into operation and move axis 1 so that the installation area
for the supplementary stop to be installed is freely accessible.
3. Remove the trailing stop.
For ranges smaller than 210°, it is necessary to remove the trailing stop.
For this, remove 4 Allen screws and conical spring washers and take off
the plate; then remove the trailing stop from the guide.
4. Secure the robot by pressing the E-STOP device.

Fig. 8-1: Installation, working range limitation A1

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 19 / 39

 Working Range Limitation A1

1 Allen screw 6 Allen screws

2 Trailing stop 7 Supplementary stop
3 Plate 8 Base frame
4 Gear unit A1 9 Guide
5 Supplementary stop

5. Remove the corresponding 4 Allen screws from gear unit A1.

6. Clean the mounting surface on the supplementary stop and gear unit A1.
The mounting surfaces must be free from grease.
7. Insert the supplementary stop into gear unit A1 from below and fasten it
with 4 M16x130-10.9 Allen screws.
8. Tighten the 4 M16x130-10.9 Allen screws with the torque wrench. In-
crease the tightening torque in several stages to MA = 250 Nm.

Fastening screws of strength class 10.9 must not be re-

used after removal. They must be replaced with new
ones. Serious injuries or damage to property may otherwise result.

9. If required, install a second supplementary stop as described in steps 4 to

8.
10. If necessary, move the robot, insert the trailing stop and fasten the plate
with 4 M8x20-8.8 Allen screws and conical spring washers.

The trailing stop is a safety-relevant component and

must always be reinstalled. If the trailing stop is not rein-
stalled, the standard and supplementary stops no longer have any effect.
This can cause the working range limits of axis 1 to be exceeded.
Severe injuries or damage to property may result.

11. Put the robot into operation and enter the software limit switches in accor-
dance with the modified axis angle A1.
12. Move A1 through its working range and check the new range limits.
13. Secure the robot by pressing the E-STOP device.

20 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 9 Maintenance

9 Maintenance

9.1 Maintaining the working range limitation

Description If used for its intended purpose, the supplementary stop requires minimal
maintenance, i.e. visual inspections are recommended. In certain operating
conditions, regular visual inspections may allow timely detection of changes.
This enables early detection of damage, thereby preventing failure of compo-
nents and assemblies. Exchange damaged components or assemblies.

9.2 Cleaning the working range limitation

Description The supplementary stops must be cleaned at regular intervals. The supple-
mentary stops must be cleaned in compliance with the instructions given here
in order to prevent damage. These instructions only refer to the supplementary
stop.
The following must be taken into consideration when using cleaning agents
and carrying out cleaning work:
 Only use solvent-free, water-soluble cleaning agents.
 Do not use flammable cleaning agents.
 Do not use aggressive cleaning agents.
 Do not use steam or refrigerants for cleaning.
 Do not use high-pressure cleaners.

The section “Cleaning the robot” in the robot operating instructions

must be observed when cleaning the working range limitation.

Procedure 1. Shut down the robot.

2. Clean the supplementary stops.
3. Fully remove all cleaning agents.
4. Clean any areas of corrosion and reapply corrosion protection.
5. Remove cleaning agents and equipment from the workspace of the robot.
6. Dispose of cleaning agents properly.

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 21 / 39

 Working Range Limitation A1

22 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 10 Decommissioning, storage and disposal

10 Decommissioning, storage and disposal

10.1 Decommissioning

Description This section describes all the work required for decommissioning the working
range limitation if the working range limitation is to be removed from the robot.
After decommissioning, it is prepared for storage or for transportation to a dif-
ferent location.
Depending on the installation area, it may be necessary to move the robot be-
tween the individual work steps. Observe the applicable instructions.

Preconditions  The removal site is freely accessible.

 There is no hazard posed by system components.

Procedure
When carrying out the following work, the robot must be
moved several times between the individual work steps.
While work is being carried out on the robot, it must always be secured by
activating the EMERGENCY STOP device.
Unintentional robot motions can cause injuries and damage to property. If
work is carried out on an operational robot that is switched on, the robot can
only be moved in T1 mode (reduced velocity). It must be possible to stop the
robot at any time by activating an EMERGENCY STOP device. Operation
must be limited to what is absolutely necessary.
Warn all persons concerned before switching on and moving the robot.

1. Put the robot into operation and move axis 1 so that the installation area
for the supplementary stop to be removed is freely accessible.
2. Remove the trailing stop.
For ranges smaller than 210°, it is necessary to remove the trailing stop.
For this, remove 4 Allen screws and conical spring washers and take off
the plate; then remove the trailing stop from the guide.
3. Secure the robot by activating the E-STOP device and then shut down the
robot.

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 23 / 39

 Working Range Limitation A1

Fig. 10-1: Removal, working range limitation A1

1 Allen screws 6 Allen screws

2 Trailing stop 7 Supplementary stop
3 Plate 8 Base frame
4 Gear unit A1 9 Guide
5 Supplementary stop

4. Unscrew the corresponding 4 Allen screws from the supplementary stop

and remove the supplementary stop.
5. Insert the 4 M16x100-10.9 Allen screws and tighten with the torque
wrench. Increase the tightening torque in several stages to MA = 250 Nm.

Fastening screws of strength class 10.9 must not be re-

used after removal. They must be replaced with new
ones. Serious injuries or damage to property may otherwise result.

6. If applicable, remove the second supplementary stop as described in

steps 4 to 8.
7. If necessary, move the robot, insert the trailing stop and fasten the plate
with 4 M8x20-8.8 Allen screws and conical spring washers.

The trailing stop is a safety-relevant component and

must always be reinstalled. If the trailing stop is not rein-
stalled, the standard and supplementary stops no longer have any effect.
This can cause the working range limits of axis 1 to be exceeded.
Severe injuries or damage to property may result.

8. Put the robot into operation and enter the software limit switches in accor-
dance with the modified axis angle A1.
9. Move A1 through its working range and check the new range limits.
10. Secure the robot by pressing the E-STOP device.
11. Prepare the supplementary stop for storage.

24 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 10 Decommissioning, storage and disposal

10.2 Storage

Description If the component is to be put into long-term storage, the following points must
be observed:
 Clean the components and protect against corrosion.
 The place of storage must be as dry and dust-free as possible.
 Protect mechanical components against damage.
 Avoid temperature fluctuations.
 Avoid wind and drafts.
 Avoid condensation.
 Use appropriate packaging that can withstand the expected environmental
conditions.
 Do not leave any loose parts on the product, especially ones that might
knock against other parts.
 Do not expose to direct sunlight.
 Observe and comply with the permissible temperature ranges for storage.
 Select a storage location in which the packaging materials cannot be dam-
aged.

Procedure 1. Remove working range limitation A1.

2. Visually inspect the components.
3. Remove any dirt.
4. Protect the components against corrosion.
5. Seal components with a dust-proof seal.
6. Store components in accordance with the storage instructions.

10.3 Disposal

Description When the components reach the end of their useful life, they can be removed
and disposed of. The materials must be disposed of in accordance with the
pertinent regulations and, where possible, separated and sorted for recycling.
The following table provides an overview of the materials used.

Material, designation Subassembly, compo- Note

nent
Steel Stop, screws Sort before disposal

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 25 / 39

 Working Range Limitation A1

26 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 11 Appendix

11 Appendix

11.1 Tightening torque

Tightening torque The following tightening torques are valid for screws and nuts where no other
specifications are given.

Strength class
Screw size 8.8 10.9
M3 1.2 Nm 1.6 Nm
M4 2.8 Nm 3.7 Nm
M5 5.6 Nm 7.5 Nm
M6 9.5 Nm 12.5 Nm
M8 23.0 Nm 31.0 Nm
M10 45.0 Nm 60.0 Nm
M12 78.0 Nm 104.0 Nm
M14 125.0 Nm 165.0 Nm
M16 195.0 Nm 250.0 Nm
M20 370.0 Nm 500.0 Nm
M24 640.0 Nm 860.0 Nm
M30 1330.0 Nm 1700.0 Nm

Tighten M5 domed cap nuts with a torque of 4.2 Nm.

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 27 / 39

 Working Range Limitation A1

28 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 12 KUKA Service

12 KUKA Service

12.1 Requesting support

Introduction The KUKA Roboter GmbH documentation offers information on operation and
provides assistance with troubleshooting. For further assistance, please con-
tact your local KUKA subsidiary.

Information The following information is required for processing a support request:

 Model and serial number of the robot
 Model and serial number of the controller
 Model and serial number of the linear unit (if applicable)
 Model and serial number of the linear unit (if applicable)
 Version of the KUKA System Software
 Optional software or modifications
 Archive of the software
For KUKA System Software V8: instead of a conventional archive, gener-
ate the special data package for fault analysis (via KrcDiag).
 Application used
 Any external axes used
 Description of the problem, duration and frequency of the fault

12.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
[email protected]

Australia Headland Machinery Pty. Ltd.

Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australia
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
[email protected]
www.headland.com.au

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 29 / 39

 Working Range Limitation A1

Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
[email protected]
www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Avenida Franz Liszt, 80
Parque Novo Mundo
Jd. Guançã
CEP 02151 900 São Paulo
SP Brazil
Tel. +55 11 69844900
Fax +55 11 62017883
[email protected]

Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
[email protected]
www.robotec.cl

China KUKA Automation Equipment (Shanghai) Co., Ltd.

Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1808
Fax +86 21 6787-1805
[email protected]
www.kuka.cn

Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
[email protected]
www.kuka-roboter.de

30 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 12 KUKA Service

France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
[email protected]
www.kuka.fr

India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
[email protected]
www.kuka.in

Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
[email protected]
www.kuka.it

Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
[email protected]

Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
[email protected]
www.kuka-robotics.com/canada

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 31 / 39

 Working Range Limitation A1

Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
[email protected]

Malaysia KUKA Robot Automation Sdn Bhd

South East Asia Regional Office
No. 24, Jalan TPP 1/10
Taman Industri Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 3 8061-0613 or -0614
Fax +60 3 8061-7386
[email protected]

Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
[email protected]
www.kuka-robotics.com/mexico

Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
[email protected]

Austria KUKA Roboter Austria GmbH

Vertriebsbüro Österreich
Regensburger Strasse 9/1
4020 Linz
Austria
Tel. +43 732 784752
Fax +43 732 793880
[email protected]
www.kuka-roboter.at

32 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 12 KUKA Service

Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]

Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
[email protected]

Russia OOO KUKA Robotics Rus

Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 33 / 39

 Working Range Limitation A1

Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
[email protected]
www.kuka-e.com

South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za

Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
[email protected]
www.kuka.com.tw

Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
[email protected]
www.kuka-roboter.de

Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
[email protected]

34 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 12 KUKA Service

Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
[email protected]

USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
[email protected]
www.kukarobotics.com

UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
[email protected]

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 35 / 39

 Working Range Limitation A1

36 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 Index

Index
A W
A1, working range limitation 9 Warnings 5
Ambient temperature, operation 11 Working range limitation A1 9
Ambient temperature, storage 11 Working range limitation A1, angle settings 15
Ambient temperature, transportation 11 Working range limitation A1, installing 19
Angle increments 11 Working range limitation, basic data 11
Angle settings, working range limitation A1 15 Working range limitation, cleaning 21
Appendix 27

B
Basic data, working range limitation 11

D
Disposal 25
Documentation, options 5

H
Humidity rating 11

I
Installation, working range limitation A1 19
Intended use 7
Introduction 5

K
KUKA Customer Support 29

L
Limitation range A1 11

M
Maintenance 21

P
Product description 9
Purpose 7

R
Recommissioning 19
Relative air humidity 11

S
Safety 13
Safety instructions 5
Service, KUKA Roboter 29
Start-up 19
Storage 25
Support request 29

T
Technical data 11
Tightening torque 27
Training 7
Transportation 17
Type 11

U
Users 7

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 37 / 39

 Working Range Limitation A1

38 / 39 Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF)

 Working Range Limitation A1

Issued: 31.08.2012 Version: Option KR QUANTEC Arbeitsbereichsbegrenzung A1 en (PDF) 39 / 39