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Technical data
Bosch Rexroth AG, APAS assistant K1100-10i V01.00.00 - V01.00.99, 3 842 565 050/2019-11
4.1.1
Work area and permissible velocity
For the direction of movement and the assignment of the individual robot axes
see the KR Agilus installation instructions.
Work area
The axis angle limitations are included in the safety configuration of the
KR C4 in order to prevent damage to the APAS assistant components. If the
axis-specific space is breached, the robot will stop its movement. Retraction is
possible in manual operation.
25
1030,9
Axis
A1
A2
A3
A4
A5
A6
4.1.2
Stopping distance and stopping times
The max. permissible collaboration velocity of 0.5 m/s is set in the delivery
state. The system integrator must determine the stopping distance and the
stopping times according to the current state of the art and adapt the
collaboration velocity to the application. The system integrator must prepare
a risk assessment for this purpose.
To determine the stopping distances, see the KUKA operating instructions
KR C4 smallsize-2 (see Further documentation on page 6).
Typical response time of the sensor skin
Basic
With sensor head option
With KEE option
With max. upgrade (192 sensor elements)
Bearing load
Traglast
515
90
L 80
z
436,6
1100,6
Range of motion
±170°
-165° to +25°
-45° to +135°
±185°
-90° to +100°
±185°
27 ms ± 1 ms
28.5 ms ± 1 ms
30 ms ± 1.5 ms
47.5 ms ± 2.5 ms
- 170°
+ 170°
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