ROBOT

KR 40 PA

Technical Data

Manipulator

Issued: 14 Oct 2009 Version: 02

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e Copyright KUKA Roboter GmbH
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in
the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies
cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.

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Contents

1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Principal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

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 Technical Data

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1 General

Valid for (V)KR 40 PA

1 General
The KR 40 PA robot is a four--axis industrial robot for installation on the floor. It is suitable
for all palletizing tasks.
The main areas of application are:
-- palletizing,
-- handling and
-- depalletizing.

Using the robot for purposes other than those mentioned above is considered
contrary to its designated use (see Doc. Module “Safety, General”).

Fig. 1 shows the robot system, comprising the manipulator (= robot), control cabinet and
connecting cables.

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 Technical Data

4 6

1 Wrist 5 Base frame

2 Arm 6 Connecting cables
3 Link arm 7 Control cabinet (see
4 Rotating column separate documentation)

Fig. 1 Principal robot components

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2 Principal data

2 Principal data
Type KR 40 PA

Number of axes 4
Load limits see following table and Fig. 2

Robot type KR 40 PA
Rated payload [kg] 40
Suppl. load, arm [kg] 20
Max. total load [kg] 60

Max. total load

Supplementary load Payload

Fig. 2 Load distribution

Axis data see the following table

All specifications in the “Range of motion” column are

referred to the electrical zero of the robot axis concerned.

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 Technical Data

KR 40 PA
D Wrist, rated payload 40 kg

Axis Range of motion Speed

software--limited
1 ±155˚ 183˚/s
2 ---15˚ to --120˚ 153˚/s
3 +15˚* to +145˚ * 212˚/s
6 ±350˚ 374˚/s
* Maximum value, referred to the link arm, depending on the position of axis 2

Axis 2
+ +
-- -- Axis 3

Axis 1
-- +

+ --
Axis 6

Fig. 3 Robot axes and their possible motions

Repeatability ± 0.05 mm

Mounting position Floor

Principal dimensions see Fig. 5

Working envelope see Fig. 5

Volume of working envelope approx. 12.6 m3

The reference point is the intersection of the mounting flange face
with axis 6.

Load center of gravity P see Fig. 4

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2 Principal data (continued)

Mounting flange DIN/ISO1 mounting flange (Fig. 7). The mounting flange is de-
picted with axis 6 in its zero position. The symbol indicates the
position of the locating element (bushing). M8 screws of grade
10.9 are to be used for attaching payloads. The grip length of the
screws in the flange must be at least 1.5 x nominal diameter.
Depth of engagement: min. 12 mm / max. 14 mm

1 DIN/ISO 9409--1--A100

Weight 695 kg

Principal dynamic loads see Fig. 8

Drive system Electromechanical, with transistor--controlled

AC servomotors.

Installed motor capacity 10,2 kW

Protection classification of the electric parts

IP 65
ready for operation, with connecting cables plugged in
(according to EN 60529).

Ambient temperature During operation:

278 K to 328 K (+5 °C to +55 °C).
During operation with SafeRDC:
278 K to 323 K (+5 °C to +50 °C).
During storage/transportation:
233 K to 333 K (--40 °C to +60 °C).
Other temperature limits available on request.

Sound level < 75 dB (A) outside the working envelope.

Zero adjustment For zero adjustment with the electronic probe (accessory) when
the tool is mounted, the latter must be designed to allow sufficient
space for installation and removal of the probe (Fig. 9).

Color Base (stationary): black (RAL 9005)

Moving parts: KUKA orange 2567

Plates see Fig. 10 to Fig. 20

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 Technical Data

Loading curves (Fig. 4) correspond to the maximum load capacity! The values of
the payload and the principal moment of inertia must be checked in all cases.
Exceeding this capacity will reduce the service life of the robot and generally
overload the motors and the gears; in any such case KUKA must be consulted
beforehand.

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system

--Z
Permissible mass inertia at the
Lxy = L x 2 + Ly 2 design point (Lxy = 100 mm, Lz =
200 mm) 10 kgm2.
CAUTION:
+X +Y The mass inertia must be calculated
using KUKA Load.
It is imperative for the load data to
Lz be entered in the controller!
Load center of gravity P
--Y
--X
Lxy

Lx

+Z Ly

Lxy (mm)

300 15 kg

20 kg
200
25 kg
30 kg
35 kg
40 kg
100

Lz (mm)

A6
200 400 600 800 1000 1200

Fig. 4 Load center of gravity P and loading curves for KR 40 PA

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 2 Principal data (continued)

Supplementary load 1) Y
+15°
Load center of gravity
850 200

190
1)
+145°

200
850

--120° 100
Y
1675

1470

Z
--15°

1428
1160
620

Interference radius

200
220

851 1240
2091

1) Maximum value, referred to the link arm, depending on the position of axis 2
--155°

R2091
NOTE: The supplementary load
center of gravity must be located as
close as possible to rotational axis
A 3 and to line a in Fig. 6.
The reference point for the working
envelope is the intersection of the
mounting flange face with axis 6.
R560
View Y see Fig. 6.

+155°

Fig. 5 Principal dimensions and working envelope (software values)

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 Technical Data

View Y from Fig. 5

a
380 +
-- 0.4
Interference contour for

100
85.3
supplementary load

35
70
A3
4x M12, max. 18 deep

Support brackets for suppl. load (2x)

For attaching the supplementary load, all four of the M12x18 tapped holes must be
used. The maximum tightening torque is 35 Nm.
The depth of engagement of 18 mm must not be exceeded under any circumstances.

Fig. 6 Attachment holes for supplementary load

6x M8, 12 deep M8 fastening screws; 10.9

Depth of engagement: min. 12 mm,
100 max. 14 mm

A A

Xm
30˚

1
60˚

6x60˚=360˚
5.5

13
14
9

2
Fitting length 7

1x45˚

8 H7

25

63 H7

122 +0.2
1 Gauge cartridge A 6
125 H8 2 Locating element

Section A – A

Fig. 7 DIN/ISO mounting flange for wrist

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2 Principal data (continued)

Fv Mk

Fh

Mr

Fv = Vertical force Fvmax = 18 000 N

Fh = Horizontal force Fhmax = 9 000 N
Mk = Tilting moment Mkmax = 22 000 Nm
Mr = Turning moment about axis 1 Mrmax = 13 000 Nm

Total mass = robot + total load for type

695 kg + 60 kg KR 40 PA

Fig. 8 Principal loads acting on floor due to robot and total load

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 Technical Data

105
R250

Fig. 9 Electronic probe, installation on A 6

1 1
2
3
4

2 2
6 5 3 3
2 4 4
3 10 7
4 8
11
10 9 10

Fig. 10 Plates on robot (see also Fig. 11 to Fig. 20)

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2 Principal data (continued)

2x
1
Article no. 00--109--364 D/GB/F

Fig. 11 Warning sign, fiber composite material

Fig. 12 High voltage warning sign

4x on all motors.

Fig. 13 Hot surface warning sign

On all motors. .................

...........................................................
................................................
...........................................................
................................................
...........................................................
.................................................
4

Fig. 14 Drive motor rating plate

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 Technical Data

..
Schrauben M8 Qualitat 10.9
Einschraubtiefe min.10mm max. 12mm
..
Klemmlange min. 12mm

Fastening screws M8 quality 10.9

Engagement length min. 10mm max. 12mm
Screw grip min. 12mm

Vis ’
M8 qualite 10.9
Longueur vissee ’ min. 10mm max. 12mm 5
Longueur de serrage min. 12mm Art. no. 00--131--768

Fig. 15 Fastening instructions on the wrist

ACHTUNG! WARNING! ATTENTION!

Vor dem Entfernen des Motors Roboterachse
gegen Kippen sichern!

Only remove motor when robot axis is secured!

Avant démontage du moteur bloquer l’axe 2x

concerné!
Article no. 00--131--741 de/en/fr 6

Fig. 16 Instructions for safeguarding against toppling of A 2, A 3

KUKA Roboter GmbH

Augsburg

Germany

Typ Type Type KR XXX LXXX Xx--2 K--W--F XxxXYZ

Artikel--Nr. Article--No. No.d’article XXXXXXXXXX

Serie--Nr. Serial--No. No. Série XXXXXX

Hergestellt Manufactured Fabriqué

Gewicht Weight Poids

$ TRAFONAME[]=”#.....” TRAFO1513321654984649352841

...\MADA\ MADA15133216549846493554861

Fig. 17 Robot identification plate (example)

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2 Principal data (continued)

ACHTUNG! WARNING! ATTENTION!

Vor Aufstellung, Inbetriebnahme, Montage-- und
Wartungsarbeiten die Betriebsanleitung und
Sicherheitshinweise lesen und beachten!

Before installation, start--up, maintenance or

disassembling read and follow the safety
directions and operating instructions!

Avant installation, mise en service, réparation et

maintenance veuillez lire les châpitres
correspondants du manuel ainsi que les
consignes de sécurité et les respecter!

Artikel--Nr. 00--131--741 D/GB/F

8

Fig. 18 Reference to operating instructions

9
00--104--232 3x
Fig. 19 Danger zone

Transportstellung:
Transport position:
Position de transport:

A1 A2 A3 A6
0 --120 +145 0

ACHTUNG! CAUTION! ATTENTION!

Vor dem Losen der The robot must be Le robot doit etre
Fundamentbefesti-- in the transport amene en position
gungsschrauben position before the de transport avant de
muss der Roboter in holding--down bolts desserrer les boulons
Transportstellung
gebracht werden!
are slackened! de fixation des
fondations!
2x
Artikel--Nr.: 00--131--741 de/en/fr
10

Fig. 20 Instructions regarding transport position

1

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