KUKA Robotics Project Book Chrysler Group Powertrain KUKA Robotics Corporation
Version 6.5 Revision Date: JULY 01, 2010 Version 6.5 Number of pages: 20 Issued 07.01.2010 File / Template: Projectbook_KUKA_Robotics_6.5_en.2 07012010/ Normal.dotm Confidential! All rights reserved. The reproduction or transmission of this documentation in whole or in part, including the use of summaries, is prohibited without the prior written consent of Chrysler.
Contents: General ...................................................................................................................................... 1 Foreword: 1 Modification Log: 1 Chrysler Group Facilities in the US: 1 Contacts at KUKA Robotics Corporation and KUKA Roboter AG: 2 General Points (Industrial Robots) ......................................................................................... 3 2.1 Industrial Robots 3 2.2 Provision of Robots 3 2.3 Payload Categories 3 External Axes .......................................................................................................................... 11 Linear Axis KL 1500-3 11 Vertical Dual Turnover Positioner 11 Colors: ..................................................................................................................................... 12 User Dress Packages Without Tool Changing System: ...................................................... 13 1.1.1 Dress Package 1 (KR 150, 210, 360, 500, 1000) 13 1.1.2 Dress Package 2 (KR 150, 210, 360) 14 1.1.3 Dress Package 3 (KR 150, 210, 360) 14 1.1.4 Dress Package 4 (KR 150, 210, 360) (Welding, Single) 15 1.1.5 Dress Package 5 (KR 16) 15 1.1.6 Dress Package 6 (KR 30) 15 Warranty: 16 Software Modules (KUKA) ................................................................................................... 17 Standard Equipment: 17 Application-Specific Software Modules (optional): 17 Vision: 17 Connection to Material and Production Data Acquisition Systems: 17 Automatic TCP Calibration: 17 Robot Arm: ............................................................................................................................. 18 Mechanical Hard Stops for the Main Axes (Workspace Limitation) 18 Workspace Monitoring: 18 Absolute Accuracy: 18 Collision Protection: 18 KUKA Safe Operation: 18 Tool Changing Systems 19 1.1.7 Automatic Tool Changing System: 19 1.1.8 Manual Rapid Tool Mounting System: 19
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Robot Control Cabinet........................................................................................................... 20 General: 20 Electrical interfaces 20 1.1.9 Power supply: 20 1.1.10 Connectors: 20 1.1.11 Bus systems 20 PLC Interface / Safety Signals 20 Control of Application-Specific Functions (PLC) 21 Control Cabinet Rollers 21 Digital Inputs / Outputs 21 Air / Water Heat Exchanger 21 Teach Pendant 21 KUKA Motion Control .......................................................................................................... 22 Documentation ........................................................................................................................ 24 Appendix 9: Brief description of the software 24
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CHRYSLER Powertrain Project Book
General Foreword: This Project Book Defines the Specifications for the Application of KUKA Robotics Products at All Production Sites and Centers of Chrysler Group LLC North American Powertrain Manufacturing Locations (PTT).
Modification Log: Revision Date
Version
Document Name
07012006
1.0
Project Book 1.0
01012007
2.0
Project Book 2.0
07012007
3.0
Project Book 3.0
Content Updated
2
Soeren Papsdorf
01012008
4.0
Project Book 4.0
Content Updated
All
Soeren Papsdorf
01012009
5.0
Project Book 5.0
Content Updated
All
Jim Foreman
07012009
5.5
Project Book 5.5
Content Updated
All
Jim Foreman
01012010
6.0
Project Book 6.0
Content Updated
All
Jim Foreman
Project Book 6.5
Content Updated
Industrial Robots & External Axes
Jim Foreman Soeren Papsdorf
07/01/2010
6.5
Revision First Revision Released Content Updated
Paragraph Effected All 2, 3, 6, 8
Revised By Soeren Papsdorf Bruce Kinnie Soeren Papsdorf/ Bruce Kinnie
Chrysler Group Facilities in the US: Kokomo Transmission, Kokomo, IN. Indiana Transmission 1, Kokomo, IN. Indiana Transmission 2, Kokomo, IN Mack 1, Detroit, MI. Mack 2, Detroit, MI. Trenton Engine, Trenton, MI. Kenosha Engine, Kenosha, WI. GEMA 1, Monroe, MI. GEMA 2, Monroe, MI.
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CHRYSLER Powertrain Project Book
Contacts at KUKA Robotics Corporation and KUKA Roboter AG: Jim Foreman
Global CHRYSLER Group LLC Key Account Manager
Address:
KUKA Robotics 22500 Key Drive Clinton Township, Michigan 48036 Telephone: (586) 465-8861
[email protected]
Michael Dewitte Address:
Director; Automotive Accounts KUKA Robotics 22500 Key Drive Clinton Township, Michigan 48036 Telephone: (586) 465-8849
[email protected]
Mike Maximiuk
Senior Engineering Manager
Address:
KUKA Robotics 22500 Key Drive Clinton Township, Michigan 48036 Telephone: (586) 465-8825
[email protected]
Korea Office: Address:
Dr.-Ing Dae-Kern KANG General Manager KUKA Robot Automation Korea Co., Ltd 4Ba 806 Sihwa Ind. Complex Sung-Gok Dong, Ansan City Kyunggi Do, 425 – 110, Korea Telephone: +82-31-496-9937-8
[email protected]
India Office: Address:
Raj Singh Rathee Managing Director KUKA Robotics India Pvt Ltd 621 Galleria Towers DLF Phase – 1V, Gurgaon – 122009 Haryana, India Telephone +91-124-41-88220/221
[email protected]
Italy Office: Address:
Paolo Gioia KUKA Robotics Italia S.p.A. Via Pavia 9/a – int. 6 10098 Rivoli (TO) Italia Tel.: +39 011 959 50 13 Fax: +39 011 959 51 41
[email protected]
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Managing Director
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CHRYSLER Powertrain Project Book
General Points (Industrial Robots) 2.1 Industrial Robots This Project Book is only valid for KUKA jointed-arm robots. The following points must be taken into consideration. 2.2 Provision of Robots Industrial Robots For Individual Projects Are to be Provided by Chrysler Group LLC (Planning). 2.3 Payload Categories As a General Rule, Highlighted Robots Are Standard For Chryaler Group LLC. Other Robots May be Used if Required. Overview:
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CHRYSLER Powertrain Project Book
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CHRYSLER Powertrain Project Book
KR 5 arc The new KUKA KR 5 arc rounds off the range of KUKA robots at the lower end. Its payload of 5 kg makes it outstandingly well-suited to standard arc welding tasks. With its attractive price and compact dimensions, it is the ideal choice for your application too. Whether mounted on the floor or inverted overhead, the KR 5 arc always performs its tasks reliably. LOADS: Payload Supplementary load
5 kg 12 kg
Working envelope Max. reach
1412 mm
Other data and variants Number of axes Repeatability Weight Mounting positions
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6 ± 0,1 mm 127 kg Floor, ceiling
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CHRYSLER Powertrain Project Book
KR 5 arc HW: KUKA Roboter presents the absolute specialist for arc welding: the KR 5 arc HW (Hollow Wrist). This new robot type offers several features that put it in a class of its own. The 50 mm opening in the arm and wrist, for example, allows the arc welding dress package to be routed in the protective interior of the arm. This not only shields the dress package from mechanical influences, but also prevents undesirable whiplash motion during reorientation of the robot. Both torsion-type dress packages and infinitely rotating arc welding dress packages are possible. For the user, this means not only improved component accessibility and optimal protection of the dress package, but also simplified offline programming. LOADS: Loads Supplementary load
5 kg 12 kg
Working envelope Max. reach
1423 mm
Other data and variants Number of axes 6 Repeatability
