PAYLOAD ANALYSIS COMPARISON REPORT

Page 1 of 3 Created by nelson.cofre@rheem.cl

April 25, 2020
Compose v1.7

SELECTED ROBOTS

STATIC DYNAMIC RESULT

KR 12 R1810-2 OK OK ROBOT APPROVED

Robots only approved in palletizing mode

FLANGE PAYLOAD DATA

Flange payload summation

MASS [kg] 12

L X [mm] 120
LY 0
LZ 150
+X
IX [kgm2] 0.36
+Y
IY 0.36
IZ 0.36
LXY
+Z

LZ

LX
CENTER OF MASS
LY
+YM
IY

+ZM IZ IX

+XM

ROBOTICS CORPORATION . customerservice@kuka.com

PAYLOAD ANALYSIS COMPARISON REPORT
Page 2 of 3 Created by nelson.cofre@rheem.cl
April 25, 2020
Compose v1.7

SUPPLEMENTARY PAYLOAD DATA

KR 12 R1810-2

Supplementary payload summation

AXIS 1 AXIS 2 AXIS 3

MASS [kg] 5 MASS [kg] 5 MASS [kg] 5

L X [mm] 0 L X [mm] 160 L X [mm] -105

LY 0 LY -105 LY -51
LZ 324 LZ 520 LZ -995

IX [kgm2] 0 IX [kgm2] 0 IX [kgm2] 0.3

IY 0 IY 0 IY 0.3
IZ 0 IZ 0 IZ 0.3

Individual supplementary payloads

MASS [kg] LX LY L Z [mm] IX IY IZ [kgm2]

Main axis 1 payload - Axis 1 5 0 0 324 0 0 0
Main axis 2 payload - Axis 2 5 160 -105 520 0 0 0

Main axis 3 payload - Axis 3 5 -105 -51 -995 0.3 0.3 0.3

ROBOTICS CORPORATION . customerservice@kuka.com

PAYLOAD ANALYSIS COMPARISON REPORT
Page 3 of 3 Created by nelson.cofre@rheem.cl
April 25, 2020
Compose v1.7

ANALYSIS

PAYLOAD

Center of mass KR 12 R1810-2

STATIC ANALYSIS

DYNAMIC ANALYSIS

ROBOTICS CORPORATION . customerservice@kuka.com

PAYLOAD ANALYSIS
SIGN-OFF SHEET COMPARISON REPORT
Page 1 of 4 Created by nelson.cofre@rheem.cl
April 25, 2020
Compose v1.7

STATIC DYNAMIC RESULT

KR 12 R1810-2 OK OK ROBOT APPROVED

Robots only approved in palletizing mode

FLANGE PAYLOAD DATA

Flange payload summation

MASS [kg] 12

L X [mm] 120
LY 0
LZ 150
+X
IX [kgm2] 0.36
+Y
IY 0.36
IZ 0.36
LXY
+Z

LZ

LX
CENTER OF MASS
LY
+YM
IY

+ZM IZ IX

+XM

ROBOTICS CORPORATION . customerservice@kuka.com

PAYLOAD
SIGN-OFF ANALYSIS
SHEET COMPARISON REPORT
Page 2 of 4 Created by nelson.cofre@rheem.cl
Created by nelson.cofre@rheem.cl
April 25, 2020
April 25, 2020
Compose v1.7
Compose v{major}.{minor}

SUPPLEMENTARY PAYLOAD DATA

KR 12 R1810-2

Supplementary payload summation

AXIS 1 AXIS 2 AXIS 3

MASS [kg] 5 MASS [kg] 5 MASS [kg] 5

L X [mm] 0 L X [mm] 160 L X [mm] -105

LY 0 LY -105 LY -51
LZ 324 LZ 520 LZ -995

IX [kgm2] 0 IX [kgm2] 0 IX [kgm2] 0.3

IY 0 IY 0 IY 0.3
IZ 0 IZ 0 IZ 0.3

Individual supplementary payloads

MASS [kg] LX LY L Z [mm] IX IY IZ [kgm2]

Main axis 1 payload - Axis 1 5 0 0 324 0 0 0

Main axis 2 payload - Axis 2 5 160 -105 520 0 0 0

Main axis 3 payload - Axis 3 5 -105 -51 -995 0.3 0.3 0.3

ROBOTICS CORPORATION . customerservice@kuka.com

PAYLOAD
SIGN-OFF ANALYSIS
SHEET COMPARISON REPORT
Page 3 of 4 Created by nelson.cofre@rheem.cl
Created by nelson.cofre@rheem.cl
April 25, 2020
April 25, 2020
Compose v1.7
Compose v{major}.{minor}

STATIC DYNAMIC RESULT

KR 12 R1810-2 OK OK ROBOT APPROVED

Robots only approved in palletizing mode

Customer

Load data determined by CAD

Manually
LDD Version

SW release

Station

Controller name

Controller

Serial number

Robot type

Application

Tool name

Tool number

Supply voltage (V)

Load data correctly assigned to the controller

ROBOTICS CORPORATION . customerservice@kuka.com

PAYLOAD
SIGN-OFF ANALYSIS
SHEET COMPARISON REPORT
Page 4 of 4 Created by nelson.cofre@rheem.cl
Created by nelson.cofre@rheem.cl
April 25, 2020
April 25, 2020
Compose v1.7
Compose v{major}.{minor}

Sign off is:

rejected because:

granted conditionally:

granted unconditionally:

Overloading the robot is not permitted. If the robot is overloaded, safe operation cannot be guaranteed. External forces
and torques (e.g. process forces) are not included in the calculations. In such cases, must be consulted in advance.
The load data for each robot must be correctly assigned to the system. Correct operation of robots in palletizing mode
must be ensured. Sign-off is granted exclusively for the currently specified load data. This sign-off is invalidated if the
robot tool is changed.

Signtature Date

CERTIFICATION (opt)

Country Date

Stamp here

ROBOTICS CORPORATION . customerservice@kuka.com