Hi all, I would ask you a compelling and I suppose silly question:
we are moving a working station which has a Kuka 60HA robot. I suddently realized that I don't know which is the robot 'close' position: the one with the barycenter close to the robot center, to transport it. Is it stored somewhere? I searched on the manual but hadn't find anything yet.
Thanks a lot in advance for your precious help!
How to 'close' the robot for transport
- Andrea
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No specific position I've seen listed....
Just close up A2 & A3 and fold A5 down.
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Thnaks for the quick reply! That's actually what I was going to do, I was just scared to unfix the robot from the ground and to see it falling down because of a wrong position
Much more relaxed now -
just because I can...
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Experience gained from many years of shipping robots:
Be sure to collapse and tuck the arm, then block the joints with foam blocks, wood blocks, stacked cardboard, bubble wrap, down pillows, whatever. It's never a good idea to try to use the motor brakes and geartrains to counteract the bouncy-bouncy action of shipping robots on a truck trying to make the arm links remain stationary. -
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The official factory joint angles for shipping position are indeed recorded on a sticker/plate on most KUKAbots. This is a position where the robot will balance tolerably well, with no paylod. If you have a heavy end effector mounted, this may not be the case. Or, you may have an end effector that is too large to allow the robot to reach this position.
Also, the official shipping position may actually require removing the rubber block from the A2 hard stop -- this is because some models (the KR500 is one, as I recall) are too tall to fit into a standard shipping crate unless the rubber block is removed and $SOFTN_END[2] is temporarily increased to allow the robot to "squat" by a few more degrees.
That having been said, usually just squatting the robot into something close to the factory shipping position and adding some bracing to keep the arm from drooping due to transport vibration should be enough for most typical applications. -
Hi all, is there a way to move the kuka arm into transport position without power? (kr2/6)
thanks!
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If you remove the end cap on the motor there is a hex nut you can turn but MAKE SURE YOU POWER THE BRAKES OFF otherwise it will be the end of them!
It's easy enough plug the controller in though, and that is what I'd do.
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thanks eusty, not overly familiar with these (possibly thats obvious!). the controller etc is packaged up unfortunately.
If its braced properly as is would it be ok to ship? it is not too far off as is.
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If its close then it will be fine.
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If you remove the end cap on the motor there is a hex nut you can turn but MAKE SURE YOU POWER THE BRAKES OFF otherwise it will be the end of them!It's easy enough plug the controller in though, and that is what I'd do.
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this is meant as an emergency release. turning motor shaft while brakes are applied will wear brakes. energizing brakes will not "be end of them", it will release them and depending on axis, robot may collapse...
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OK maybe my language wasn't that great...after 47 years of speaking English I still can't make a sentence!!
I meant powering the brakes off by applying power to them. Power=on, brakes=off (in a physical sense)
This will allow you to move the motors (after taking precautions A3 etc) without damaging the brakes.
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Hi guys,
I'm short on this topic, but what is the correct procedure to move a Kuka robot between 2 factories?
I must do a Back-up of the robot (just in case something gets lost or i must restore the system settings) -> put it in transport position ->cut the power and other connections (ex. from a PLC) -> pack it up -> move it ->unpack and redo the connections -> power on and it all should be the same?
Are there any problems i might have on moving it?
Thank you.
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imho, it is always a good idea to have fresh backup. chances are that the moment you don't have it is the moment you regret it
transport position may not work for every robot after it was used, for example energy supply, tooling etc may be in a way, so wrist may have to be moved to nearest suitable position. if tooling is heavy consider extra support but make sure that skid on which robot and this support are mounted is not flexing. rough transport may cause loss of mastering.
and make sure that robot and controller are protected from elements during transport. so use closed trailer if possible or tarp it really well. even leave some bags of desiccant at strategic places just like KUKA did.
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Thank you for the advice.
I will try to follow it as much as possible
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Another item: the truck that carries the KR and KRC should be an "air ride" trailer, or something similar. The robot is fairly robust against vibrations, but the RDW board in its base is more fragile. And I've had KRCs destroyed by shipping only 200km, on good roads, using a "normal" trailer.
If you can't get an air-ride trailer, then the KRC should be supported on some kind of shock-damping cushion. Something like these Pallet Pillows -- they should be arranged such that the weight of the KRC is carried on the pillows. KUKA uses something similar when shipping KRC2 from Europe, as I recall.
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