Hello,
Coud someone explain to me what is exactly difference between KUKA KRxx robots, and KUKA KRxx HA. I know that HA means high accuracy, but I’m interesting what is the exact difference (hardware, software)?
Many thanks and regards, Gasper
Hello,
Coud someone explain to me what is exactly difference between KUKA KRxx robots, and KUKA KRxx HA. I know that HA means high accuracy, but I’m interesting what is the exact difference (hardware, software)?
Many thanks and regards, Gasper
Basically calibration using absolute accuracy package. All HA machines have the package. Individually tweaked machine data leading to higher precision in kinematics calculation. So one could say software.
On the other hand specially selected hardware components that have small manufacturing errors. Not really from a different type but those of the same series that are exceptionally good. So also hardware. You can think of it that way: If you have the same robot type twice and Kuka quality control at the end of the production line one of those two fulfills the higher HA criteria this one gets HA branded.
Fubini
Thanks Fubini.
How do you mean package?
Is the calibration method same like for robots without HA marking? How about hardware components (KPS,KSD,…), are they changable between HA and “regular” robots?
Thanks one more time
How do you mean package?
Absolute accuracy is a option you can order from KUKA for most robot types that get manufactured. KUKA then runs at the end of its production process a mathematical parameter identification method to identify improved robot model parameters for this individual robot with high precision. In this process a file is created that lists the deviances of robot paramters from their nominal values and also adds some additional modeling components like e.g. for elasticity of the robot structure. This file then is valid for a single robot serial number. The deviation of the real robot from its nominal counterpart gets a lot smaller by this. The identification method is the same for HA and non HA robots ordered with absolute accuracy option. By default any ordered HA model will get the improved model.
KPS,KSD,…
are the same. Hardware differences are mainly high quality gates regarding accuracy compared to non HA robots.
So basically regarding accuracy it gets better in this direction
Standard robot -> Standard Robot with absolute accuracy -> HA robot (always equipped with absolute accuracy)
Fubini
Thank you, very good and very helpful information.
I have one more question if you would maybe know… already asking arround but didn’t get answer.
I have already kuka kr30 zh30/45/60-3, please see picture below, but there is oil leaking. Also I have spare wrist, which is marked zh30/45-2.
Do you maybe know if 2nd fits in my robot? It is also little strange, cause my robot is kr30-2, so maybe the wrist was already changed in the past for newer version. I would like to know if wrists are changable physically, dimensions about tool corrections, gear ratio?