ROBOT

KR 60 HA--CR

Technical Data

Manipulator

Issued: 06 Apr 2011 Version: 00

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e Copyright 2009

KUKA Roboter GmbH

Zugspitzstrasse 140
D--86165 Augsburg
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 claim 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 KR 60 HA--CR

KR 60 L45 HA--CR
KR 60 L30 HA--CR

This description applies analogously to all of the robots listed above, regardless of the
robot variant depicted.

1 General
The robots are six--axis industrial robots for installation on the floor. They are suitable for all
continuous--path controlled tasks. The main areas of application are:
-- Handling of workpieces and tools in cleanrooms

Using the robot for purposes other than those mentioned above is considered
contrary to its intended use.

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

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 Technical Data

KR 60 HA--CR
1

7
4

6
5

1 Arm 5 Base frame

2 In--line wrist 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 60 HA--CR
KR 60 L45 HA--CR
KR 60 L30 HA--CR
Number of axes 6 (Fig. 3)
Load limits see following table and Fig. 2

Robot type KR 60 L45 KR 60 L30

KR 60 HA--CR
HA--CR HA--CR
Wrist (IW)1 IW 30/45/601 IW 30/45/601 IW 30/45/601
Rated payload [kg] 60 45 30
Max. supplementary load with
35 35 35
rated payload [kg]
Max. total load [kg] 95 80 65

1 IW = In--line wrist III CR

Max. total load

Suppl. load Payload

Fig. 2 Load distribution

Axis data see the following tables.

All specifications in the “Range of motion” column are re-

ferred to the electrical zero of the robot axis concerned.

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 Technical Data

KR 60 HA--CR
D In--line wrist, rated payload 60 kg

Axis Range of motion, Speed

software--limited
1 ±185˚ 128˚/s
2 +35˚
to 102˚/s
--135˚
3 +158˚
to 128˚/s
--120˚
4 ±350˚ 260˚/s
5 ±119˚ 245˚/s
6 ±350˚ 322˚/s

KR 60 L45 HA--CR
D In--line wrist, rated payload 45 kg

Axis Range of motion, Speed

software--limited
1 ±185˚ 128˚/s
2 +35˚ to --135˚ 102˚/s
3 +158˚ to --120˚ 128˚/s
4 ±350˚ 260˚/s
5 ±119˚ 245˚/s
6 ±350˚ 322˚/s

KR 60 L30 HA--CR
D In--line wrist, rated payload 30 kg

Axis Range of motion, Speed

software--limited
1 ±185˚ 128˚/s
2 +35˚ to --135˚ 102˚/s
3 +158˚ to --120˚ 128˚/s
4 ±350˚ 260˚/s
5 ±119˚ 245˚/s
6 ±350˚ 322˚/s

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2 Principal data (continued)

A1

Fig. 3 Rotational axes and their directions of rotation

Repeatability KR 60 HA--CR  0.05 mm

(ISO 9283) KR 60 L45 HA--CR  0.06 mm
KR 60 L30 HA--CR  0.06 mm

Mounting position KR 60 HA--CR Floor

Principal dimensions see Fig. 9

Working envelope The shape and dimensions of the working envelope may be
noted from Fig. 9.

Volume of working envelope KR 60 HA--CR approx. 27.24 m3

KR 60 L45 HA--CR approx. 36.89 m3
KR 60 L30 HA--CR approx. 47.78 m3

The reference point is the intersection of axes 4 and 5.

Load center of gravity P see Fig. 6.

For the rated payload, the (nominal) distance of the load
center of gravity P is

150 mm (horizontal), 180 mm (vertical),

measured from the face of the mounting flange (rotational

axis 6).

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 Technical Data

Weight KR 60 HA--CR approx. 665 kg

KR 60 L45 HA--CR approx. 671 kg
KR 60 L30 HA--CR approx. 679 kg

Principal dynamic loads See Fig. 11

Drive system Electromechanical, with transistor--controlled AC servomo-

tors.

Installed motor capacity approx. 14.9 kW

Protection classification of the robot

IP 64
ready for operation, with connecting cables plugged in
(according to EN 60529).

Protection classification IP 65 (according to EN 60529)

of the in--line wrist CR

Ambient temperature During operation:

283 K to 328 K (+10 C to +55 C),
for operation with SafeRDC:
283 K to 323 K (+10 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 (Fig. 8 and Fig. 9)

Color Robot
Robot: white (RAL 9016)
Wrist: white (RAL 9016)
Cover A1: uncoated stainless steel
Additional special paint finish on request

Plates see Fig. 12 to Fig. 20.

Special features for use in cleanrooms:

Rated for up to 40% of maximum speed:
DIN EN ISO 14644--1, Class 4 (approximately correspond-
ing to US Fed. Std. 209E, class 10)
Rated for up to 100% of maximum speed:
DIN EN ISO 14644--1, Class 5 (approximately correspond-
ing to US Fed. Std. 209E, class 100)

Special consumables none

Accessories Only accessories authorized and offered by KUKA may be

used in the cleanroom zone.
All items of equipment must possess the appropriate certifi-
cation and declarations of conformity.

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2 Principal data (continued)

Concerning Fig. 4 to Fig. 6:

The loading curves and the values in the table correspond to the maximum load
capacity. Both values (payload and 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 Permissible mass inertia at the design point
(Lxy = 180 mm,
Lxy = L x 2 + Ly 2 Lz = 150 mm)
18 kgm2.
--X
CAUTION: The mass inertia must be
--Z verified using KUKA Load. It is imperative for
+Y the load data to be entered in the controller!

--Y +X
+Z
Lxy
Lx

Lz
Lxy (mm)
Ly

Load center of gravity P

500

25 kg
400
30 kg

300 35 kg
40 kg
45 kg
50 kg
200 55 kg
60 kg

100

A5
Lz (mm)
A4
KR 60 HA--CR
A6
100 200 300 400 500 600 700

Fig. 4 Load center of gravity P and loading curves for KR 60 HA--CR

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 Technical Data

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

Permissible mass inertia at the
Lxy = L x 2 + Ly 2 design point
(Lxy = 180 mm,
Lz = 150 mm)
9 kgm2.
--X
CAUTION: The mass inertia must be
--Z verified using KUKA Load. It is
+Y
imperative for the load data to be
entered in the controller!

--Y +X
+Z
Lxy
Lx

Load center of gravity P

Lz
Lxy (mm)
Ly

500

13 kg
400
15 kg

300 18 kg

21 kg
24 kg
200 27 kg
30 kg

100

A4
Lz (mm)
KR 60 L30 HA--CR
A4
A6
100 200 300 400 500 600 700

Fig. 5 Load center of gravity P and loading curves for KR 60 L30 HA--CR

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2 Principal data (continued)

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 Permissible mass inertia at the

Lxy = L x 2 + Ly 2
design point
(Lxy = 180 mm,
Lz = 150 mm)
--X 13.5 kgm2.
--Z CAUTION: The mass inertia must be
+Y verified using KUKA Load. It is
imperative for the load data to be
entered in the controller!

--Y +X
+Z
Lxy
Lx

Lz
Ly

Load center of
Lxy (mm) gravity

500

400
21 kg

25 kg
300
29 kg
33 kg
37 kg
200 41 kg
45 kg

100

A4
Lz (mm)
KR 60 L45 HA--CR
A4
A6
100 200 300 400 500 600 700

Fig. 6 Load center of gravity P and loading curves for KR 60 L45 HA--CR

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 Technical Data

Mounting flange DIN/ISO1) mounting flange (Fig. 7). The mounting flange is
depicted with axes 4 and 6 in the zero position. The symbol
indicates the position of the locating element (bushing).
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: IW 30/45/60 min. 12 mm

max. 14 mm

1) DIN/ISO 9409--1--A100 for IW 30/45/60

Ø 8H7 -- 8 deep Ø 0.04 A B

Section A ٛ A
Xm

170 Ø 0.02 B
to center A 4 / A 5
A

A A ø125 h8
ø63 H7

ø100

12

+0.3 B
8.5
0

7.5 ¦0.1

M8 fastening screws,
Grade 10.9
Depth of engagement: min. 12 mm
max. 14 mm

Fig. 7 DIN/ISO mounting flange for in--line wrist 30/45/60 kg

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 2 Principal data (continued)

CAUTION: The interference radius

(safe area) lies approx. 181 mm
beyond the reference point for the
working envelope.

--120 +158
820, 1020, 1220 170
Y
150

180
145
2894

3795
2695

3398
2498

850

3003
--135

+35
815

350

815 1218

868 1362
983 1445

1084 2033

1281 2230

1480 2429

NOTE: The supplementary load center of

gravity must be located as close as possible to
rotational axis 3 and to line a in Fig. 10.
The reference point for the working envelope
is the intersection of axes 4 and 5.
View Y, see Fig. 10.

Fig. 8 Principal dimensions and working envelope (software values)

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 Technical Data

---185˚

KR 60 HA--CR = R2033
KR 60 L45 HA--CR = R2230
KR 60 L30 HA--CR = R2429

+185˚

CAUTION: The
interference radius
(safe area) lies approx.
181 mm beyond the
reference point for the
working envelope.

Fig. 9 Turning range of axis 1, KR 60 HA--CR

View Y from Fig. 8

195

M8, 16 deep

a
Center, A 3

160
114
82

375 Support brackets for suppl. load (2x)

Max. dimension for suppl. load

Fig. 10 Attachment holes for supplementary load

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2 Principal data (continued)

The specified forces and moments already include the payload and the inertia force (weight)
of the manipulator.

Mk

Fv

Fh

Mr

Fv = Vertical force Fvmax = 13,600 N

Fh = Horizontal force Fhmax = 12,300 N
Mk = Tilting moment Mkmax = 21,600 Nm
Mr = Turning moment about axis 1 Mrmax = 18,400 Nm

Total mass = manipulator + total load for type

665 kg + 95 kg KR 60 HA--CR
671 kg + 80 kg KR 60 L45 HA--CR
679 kg + 65 kg KR 60 L30 HA--CR

Fig. 11 Principal loads acting on floor due to manipulator and total load

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 Technical Data

2
5
6
7

5
6
7
3
5
6 4
7 1

Fig. 12 Plates on the manipulator (see also Fig. 13 to Fig. 20)

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2 Principal data (continued)

Transportstellung:
Transport position:
Position de transport:
A1 A2 A3 A4 A5 A6
0 --- 135 +155 0 +90

ACHTUNG! WARNING! ATTENTION!

Vor dem Lösen der The robot must be Le robot doit être
Fundamentbefesti- in the transport amené en position
gungsschrauben position before the de transport avant de
muss der Roboter in holding--down bolts desserrer les boulons
Transportstellung are slackened! de fixation des
gebracht werden! fondations!
Artikel--Nr. 00--118--545 D/GB/F 1 2x

Fig. 13 Instructions regarding transport position for KR 60 HA--CR

ACHTUNG! WARNING! ATTENTION!

Vor dem Entfernen des Motors Roboterachse
gegen Kippen sichern!

Only remove motor when robot axis is secu-

red!
Avant démontage du moteur bloquer l’axe
concerné! 2
D/GB/F 2x

Fig. 14 Instructions for safeguarding against toppling of A2 and A3

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 Technical Data

Fig. 15 Robot identification plate (example)

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--118--545 D/GB/F 4

Fig. 16 Reference to operating instructions

Fig. 17 High voltage warning sign

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2 Principal data (continued)

4x on each motor

Fig. 18 Hot surface warning sign

.................

...........................................................
................................................
...........................................................
................................................
...........................................................
.................................................
On all motors. 7

Fig. 19 Drive motor rating plate

3x on base frame 00--104--232 8

Fig. 20 Danger zone

1

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