KUKA LBR iiwa Operating Instructions

LBR iiwa 1 Introduction 1.1 Industrial robot documentation 1.2 Representation of warnings and notes 1.3 Terms used 2 Purpose 2.1 Target group 2.2 Intended use 3 Product description 3.1 Overview of the robot system 3.2 Description of the LBR iiwa 4 Technical data 4.1 Basic data 4.2 Axis data 4.3 Payloads 4.4 Loads acting on the foundation 4.4.1 Foundation loads for floor-mounted robots 4.5 Plates and labels 4.6 Stopping distances and times 4.6.1 General information 4.6.2 Terms used 4.6.3 Stopping distances and times, LBR iiwa 7 R800 4.6.4 Stopping distances and times, LBR iiwa 14 R820 5 Safety 5.1 Legal framework 5.1.1 Liability 5.1.2 Intended use of the industrial robot 5.1.3 EC declaration of conformity and declaration of incorporation 5.2 Safety functions 5.2.1 Terms used 5.2.2 Personnel 5.2.3 Workspace, safety zone and danger zone 5.2.4 Triggers for safety-oriented stop reactions 5.2.5 Safety-oriented functions 5.2.5.1 EMERGENCY STOP device 5.2.5.2 Enabling device 5.2.5.3 Operator safety 5.2.5.4 External EMERGENCY STOP device 5.2.5.5 External safety stop 1 5.2.5.6 External enabling device 5.2.5.7 External safe operational stop 5.2.6 Non-safety-oriented functions 5.2.6.1 Mode selection 5.2.6.2 Software limit switches 5.3 Additional protective equipment 5.3.1 Jog mode 5.3.2 Labeling on the industrial robot 5.3.3 External safeguards 5.4 Safety measures 5.4.1 General safety measures 5.4.2 Transportation 5.4.3 Start-up and recommissioning 5.4.4 Manual mode 5.4.5 Automatic mode 5.4.6 Maintenance and repair 5.4.7 Decommissioning, storage and disposal 5.4.8 Safety measures for “single point of control” 5.5 Applied norms and regulations 6 Planning 6.1 Mounting variant 6.1.1 Machine frame mounting with centering 6.2 Connecting cables and interfaces 7 Transportation 7.1 Transportation 7.1.1 Transportation with transport container 8 Start-up and recommissioning 8.1 Installing the machine frame mounting assembly 8.2 Installing a floor-mounted robot 8.3 Overview of connecting cables and interfaces 8.4 Control cable wiring diagram 8.4.1 Dimensions of the cable 9 Maintenance 9.1 Maintenance 9.2 Cleaning the robot 10 Repair 11 Decommissioning, storage and disposal 11.1 Decommissioning, floor-mounted robots 11.2 Storage 11.3 Disposal 12 KUKA Service 12.1 Requesting support 12.2 KUKA Customer Support Index