KR360机器人操作指南.pdf

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KR 360-3; KR 500-3

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 robot

4 Technical data

4.1 Basic data

4.2 Axis data

4.3 Payloads

4.4 Foundation data

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, KR 360-3; KR 360-3 F

4.6.3.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3

4.6.3.2 Stopping distances and stopping times for STOP 1, axis 1

4.6.3.3 Stopping distances and stopping times for STOP 1, axis 2

4.6.3.4 Stopping distances and stopping times for STOP 1, axis 3

4.6.4 Stopping distances and times, KR 360 L240-3, KR 360 L240-3 F

4.6.4.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3

4.6.4.2 Stopping distances and stopping times for STOP 1, axis 1

4.6.4.3 Stopping distances and stopping times for STOP 1, axis 2

4.6.4.4 Stopping distances and stopping times for STOP 1, axis 3

4.6.5 Stopping distances and times, KR 360 L280-3, KR 360 L280-3 F

4.6.5.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3

4.6.5.2 Stopping distances and stopping times for STOP 1, axis 1

4.6.5.3 Stopping distances and stopping times for STOP 1, axis 2

4.6.5.4 Stopping distances and stopping times for STOP 1, axis 3

4.6.6 Stopping distances and times, KR 500-3, KR 500-3 F, KR 500-3 C

4.6.6.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3

4.6.6.2 Stopping distances and stopping times for STOP 1, axis 1

4.6.6.3 Stopping distances and stopping times for STOP 1, axis 2

4.6.6.4 Stopping distances and stopping times for STOP 1, axis 3

4.6.7 Stopping distances and times, KR 500 L340-3, KR 500 L340-3 F

4.6.7.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3

4.6.7.2 Stopping distances and stopping times for STOP 1, axis 1

4.6.7.3 Stopping distances and stopping times for STOP 1, axis 2

4.6.7.4 Stopping distances and stopping times for STOP 1, axis 3

4.6.8 Stopping distances and times, KR 500 L420-3, KR 500 L420-3 F, KR 500 L420-3 C

4.6.8.1 Stopping distances and stopping times for STOP 0, axis 1 to axis 3

4.6.8.2 Stopping distances and stopping times for STOP 1, axis 1

4.6.8.3 Stopping distances and stopping times for STOP 1, axis 2

4.6.8.4 Stopping distances and stopping times for STOP 1, axis 3

5 Safety

5.1 General

5.1.1 Liability

5.1.2 Intended use of the industrial robot

5.1.3 EC declaration of conformity and declaration of incorporation

5.1.4 Terms used

5.2 Personnel

5.3 Workspace, safety zone and danger zone

5.4 Overview of protective equipment

5.4.1 Mechanical end stops

5.4.2 Mechanical axis range limitation (optional)

5.4.3 Axis range monitoring (optional)

5.4.4 Options for moving the manipulator without drive energy

5.4.5 Labeling on the industrial robot

5.5 Safety measures

5.5.1 General safety measures

5.5.2 Transportation

5.5.3 Start-up and recommissioning

5.5.4 Manual mode

5.5.5 Automatic mode

5.5.6 Maintenance and repair

5.5.7 Decommissioning, storage and disposal

5.6 Applied norms and regulations

6 Planning

6.1 Mounting base 175 mm

6.2 Mounting base 200 mm

6.3 Machine frame mounting

6.4 Connecting cables and interfaces

7 Transportation

7.1 Transporting the robot

8 Start-up and recommissioning

8.1 Installing the mounting base 175 mm

8.2 Installing the mounting base 200 mm

8.3 Installing the machine frame mounting assembly

8.4 Installing a floor-mounted robot

8.5 Installing a ceiling-mounted robot

9 Electrical installations

9.1 Description of the electrical installations

9.2 Description of the connecting cables

10 Maintenance

10.1 Maintenance table

10.2 Regreasing the seal (O-ring) on A4

10.3 Regreasing the seal (O-ring) on A5

10.4 Changing the gear oil in A1

10.4.1 Draining the gear oil on A1

10.4.2 Filling the gear oil on A1

10.5 Changing the gear oil on A2

10.5.1 Draining the gear oil on A2

10.5.2 Filling with gear oil on A2

10.6 Changing the gear oil on A3

10.6.1 Draining the gear oil on A3

10.6.2 Filling with gear oil on A3

10.7 Changing the gear oil on A4

10.7.1 Draining the gear oil on A4

10.7.2 Filling the gear oil on A4

10.8 Changing the gear oil on A5 and A6

10.8.1 Draining the gear oil on A5 and A6

10.8.2 Filling with gear oil on A5 and A6

10.9 Checking the counterbalancing system

10.10 Greasing the cable set

10.11 Cleaning the robot

11 Adjustment

11.1 Counterbalancing system

11.1.1 Depressurizing the counterbalancing system on a floor-mounted robot

11.1.2 Depressurizing the counterbalancing system on a ceiling-mounted robot

11.1.3 Filling and adjusting the counterbalancing system on a floor-mounted robot

11.1.4 Filling and adjusting the counterbalancing system on a ceiling-mounted robot (fastened to floor)

11.1.5 Filling and adjusting the counterbalancing system on a ceiling-mounted robot (fastened to ceiling)

11.2 Measuring and adjusting the toothed belt tension for the in-line wrist, A5, A6

12 Repair

12.1 Exchanging motor A1

12.1.1 Removing motor A1

12.1.2 Installing motor A1

12.2 Exchanging motor A2

12.2.1 Removing motor A2

12.2.2 Installing motor A2

12.3 Exchanging motor A3

12.3.1 Removing motor A3

12.3.2 Installing motor A3

12.4 Exchanging motors and drive shafts A4 to A6

12.4.1 Removing motors and drive shafts A4 to A6

12.4.2 Installing motors and drive shafts A4 to A6

12.5 Exchanging the counterbalancing system on floor-mounted robots

12.5.1 Removing the counterbalancing system on a floor-mounted robot

12.5.2 Installing the counterbalancing system on a floor-mounted robot

12.6 Exchanging the counterbalancing system on a ceiling-mounted robot

12.6.1 Removing the counterbalancing system on a ceiling-mounted robot

12.6.2 Installing the counterbalancing system on a ceiling-mounted robot

12.7 Removing and installing toothed belts A5 and A6

13 Decommissioning, storage and disposal

13.1 Decommissioning, floor-mounted robots

13.2 Decommissioning, ceiling-mounted robots

13.3 Storage

13.4 Disposal

14 Appendix

14.1 Tightening torque

14.2 Safety data sheet for LGEV 2 lubricating grease

14.2.1 Designation of substance/formulation and manufacturer

14.2.2 Composition / Information about the components

14.2.3 Possible hazards

14.2.4 First aid measures

14.2.5 Fire-fighting measures

14.2.6 Measures after unintended release

14.2.7 Handling and storage

14.2.8 Exposure limits and personal protective equipment

14.2.9 Physical and chemical properties

14.2.10 Stability and reactivity

14.2.11 Toxicological information

14.2.12 Ecological information

14.2.13 Disposal information

14.2.14 Transport information

14.2.15 Regulations

14.2.16 Other information

14.3 Safety data sheet for Castrol Hyspin ZZ 46 hydraulic oil

14.3.1 Designation of substance/formulation and manufacturer

14.3.2 Composition / Information about the components

14.3.3 Possible hazards

14.3.4 First aid measures

14.3.5 Fire-fighting measures

14.3.6 Measures after unintended release

14.3.7 Handling and storage

14.3.8 Exposure limits and personal protective equipment

14.3.9 Physical and chemical properties

14.3.10 Stability and reactivity

14.3.11 Toxicological information

14.3.12 Ecological information

14.3.13 Disposal information

14.3.14 Transport information

14.3.15 Regulations

14.3.16 Other information

14.4 Safety data sheet for Optigear Synthetic RO 150 oil

14.4.1 Designation of substance/formulation and manufacturer

14.4.2 Possible hazards

14.4.3 Composition / Information about the components

14.4.4 First aid measures

14.4.5 Fire-fighting measures

14.4.6 Measures after unintended release

14.4.7 Handling and storage

14.4.8 Exposure limits and personal protective equipment

14.4.9 Physical and chemical properties

14.4.10 Stability and reactivity

14.4.11 Toxicological information

14.4.12 Ecological information

14.4.13 Disposal information

14.4.14 Transport information

14.4.15 Regulations

14.4.16 Other information

14.5 Safety data sheet for Microlube GL 261 lubricating grease

14.5.1 Designation of substance/formulation and manufacturer

14.5.2 Composition / Information about the components

14.5.3 Possible hazards

14.5.4 First aid measures

14.5.5 Fire-fighting measures

14.5.6 Measures after unintended release

14.5.7 Handling and storage

14.5.8 Exposure limits and personal protective equipment

14.5.9 Physical and chemical properties

14.5.10 Stability and reactivity

14.5.11 Toxicological information

14.5.12 Ecological information

14.5.13 Disposal information

14.5.14 Transport information

14.5.15 Regulations

14.5.16 Other information

14.6 Safety data sheet for Optitemp RB1 cable grease

14.6.1 Designation of substance/formulation and manufacturer

14.6.2 Composition / Information about the components

14.6.3 Possible hazards

14.6.4 First aid measures

14.6.5 Fire-fighting measures

14.6.6 Measures after unintended release

14.6.7 Handling and storage

14.6.8 Exposure limits and personal protective equipment

14.6.9 Physical and chemical properties

14.6.10 Stability and reactivity

14.6.11 Toxicological information

14.6.12 Ecological information

14.6.13 Disposal information

14.6.14 Transport information

14.6.15 Regulations

14.6.16 Other information

15 KUKA Service

15.1 Requesting support

15.2 KUKA Customer Support

Index

Robots KUKA Roboter GmbH KR 360-3; KR 500-3 With F and C Variants Operating Instructions Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF)

KR 360-3; KR 500-3 © Copyright 2013 KUKA Roboter GmbH Zugspitzstraße 140 D-86165 Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH. 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, how- ever, and necessary corrections will be incorporated in the subsequent edition. Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC Publication: Book structure: Version: Pub BA KR 360-3 KR 500-3 (PDF) en BA KR 360-3 KR 500-3 V6.1 BA KR 360-3 KR 500-3 V7 en (PDF) 2 / 233 Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF)

Contents Contents 1 Introduction .................................................................................................. Industrial robot documentation ................................................................................... 1.1 Representation of warnings and notes ...................................................................... 1.2 Terms used ................................................................................................................ 1.3 Purpose ........................................................................................................ 2 Target group .............................................................................................................. 2.1 Intended use .............................................................................................................. 2.2 Product description ..................................................................................... 3 3.1 Overview of the robot system .................................................................................... Description of the robot .............................................................................................. 3.2 4 Technical data .............................................................................................. Basic data .................................................................................................................. 4.1 Axis data .................................................................................................................... 4.2 Payloads .................................................................................................................... 4.3 4.4 Foundation data ......................................................................................................... Plates and labels ........................................................................................................ 4.5 Stopping distances and times .................................................................................... 4.6 4.6.1 General information .............................................................................................. Terms used ........................................................................................................... 4.6.2 Stopping distances and times, KR 360-3; KR 360-3 F ......................................... 4.6.3 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 4.6.3.1 4.6.3.2 Stopping distances and stopping times for STOP 1, axis 1 ............................. Stopping distances and stopping times for STOP 1, axis 2 ............................. 4.6.3.3 4.6.3.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. Stopping distances and times, KR 360 L240-3, KR 360 L240-3 F ....................... 4.6.4 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 4.6.4.1 Stopping distances and stopping times for STOP 1, axis 1 ............................. 4.6.4.2 Stopping distances and stopping times for STOP 1, axis 2 ............................. 4.6.4.3 4.6.4.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. Stopping distances and times, KR 360 L280-3, KR 360 L280-3 F ....................... 4.6.5 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 4.6.5.1 4.6.5.2 Stopping distances and stopping times for STOP 1, axis 1 ............................. Stopping distances and stopping times for STOP 1, axis 2 ............................. 4.6.5.3 4.6.5.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. Stopping distances and times, KR 500-3, KR 500-3 F, KR 500-3 C .................... 4.6.6 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 4.6.6.1 Stopping distances and stopping times for STOP 1, axis 1 ............................. 4.6.6.2 Stopping distances and stopping times for STOP 1, axis 2 ............................. 4.6.6.3 4.6.6.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. Stopping distances and times, KR 500 L340-3, KR 500 L340-3 F ....................... 4.6.7 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 4.6.7.1 4.6.7.2 Stopping distances and stopping times for STOP 1, axis 1 ............................. Stopping distances and stopping times for STOP 1, axis 2 ............................. 4.6.7.3 4.6.7.4 Stopping distances and stopping times for STOP 1, axis 3 ............................. 4.6.8 Stopping distances and times, KR 500 L420-3, KR 500 L420-3 F, KR 500 L420-3 C 9 9 9 10 11 11 11 13 13 13 17 17 20 27 37 40 42 42 42 43 43 44 46 48 48 48 49 51 53 53 53 54 56 58 58 58 59 61 63 63 63 64 66 68 68 Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF) 3 / 233

KR 360-3; KR 500-3 Stopping distances and stopping times for STOP 0, axis 1 to axis 3 .............. 4.6.8.1 Stopping distances and stopping times for STOP 1, axis 1 ............................ 4.6.8.2 Stopping distances and stopping times for STOP 1, axis 2 ............................ 4.6.8.3 Stopping distances and stopping times for STOP 1, axis 3 ............................ 4.6.8.4 Safety ............................................................................................................ 5 5.1 General ...................................................................................................................... Liability ................................................................................................................. 5.1.1 5.1.2 Intended use of the industrial robot ...................................................................... EC declaration of conformity and declaration of incorporation ............................. 5.1.3 Terms used .......................................................................................................... 5.1.4 5.2 Personnel .................................................................................................................. 5.3 Workspace, safety zone and danger zone ................................................................ 5.4 Overview of protective equipment ............................................................................. Mechanical end stops ........................................................................................... 5.4.1 5.4.2 Mechanical axis range limitation (optional) ........................................................... Axis range monitoring (optional) ........................................................................... 5.4.3 Options for moving the manipulator without drive energy .................................... 5.4.4 5.4.5 Labeling on the industrial robot ............................................................................ Safety measures ........................................................................................................ 5.5 General safety measures ..................................................................................... 5.5.1 Transportation ...................................................................................................... 5.5.2 5.5.3 Start-up and recommissioning .............................................................................. Manual mode ........................................................................................................ 5.5.4 Automatic mode ................................................................................................... 5.5.5 5.5.6 Maintenance and repair ........................................................................................ Decommissioning, storage and disposal .............................................................. 5.5.7 5.6 Applied norms and regulations .................................................................................. 6 Planning ........................................................................................................ 6.1 Mounting base 175 mm ............................................................................................. 6.2 Mounting base 200 mm ............................................................................................. 6.3 Machine frame mounting ........................................................................................... Connecting cables and interfaces ............................................................................. 6.4 7 Transportation ............................................................................................. Transporting the robot ............................................................................................... 7.1 Start-up and recommissioning ................................................................... 8 Installing the mounting base 175 mm ........................................................................ 8.1 Installing the mounting base 200 mm ........................................................................ 8.2 Installing the machine frame mounting assembly ...................................................... 8.3 Installing a floor-mounted robot ................................................................................. 8.4 8.5 Installing a ceiling-mounted robot .............................................................................. Electrical installations ................................................................................. 9 Description of the electrical installations .................................................................... 9.1 9.2 Description of the connecting cables ......................................................................... 10 Maintenance ................................................................................................. 68 69 71 73 75 75 75 76 76 77 78 79 80 80 80 81 81 82 82 82 83 84 85 85 86 87 87 89 89 91 93 94 97 97 101 101 103 105 105 107 111 111 120 125 4 / 233 Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF)

Contents 125 10.1 Maintenance table ...................................................................................................... 129 10.2 Regreasing the seal (O-ring) on A4 ........................................................................... 130 10.3 Regreasing the seal (O-ring) on A5 ........................................................................... 131 10.4 Changing the gear oil in A1 ........................................................................................ 131 10.4.1 Draining the gear oil on A1 ................................................................................... 132 10.4.2 Filling the gear oil on A1 ....................................................................................... 132 10.5 Changing the gear oil on A2 ...................................................................................... 133 10.5.1 Draining the gear oil on A2 ................................................................................... 133 10.5.2 Filling with gear oil on A2 ...................................................................................... 134 10.6 Changing the gear oil on A3 ...................................................................................... 134 Draining the gear oil on A3 ................................................................................... 10.6.1 135 10.6.2 Filling with gear oil on A3 ...................................................................................... 136 10.7 Changing the gear oil on A4 ...................................................................................... 136 Draining the gear oil on A4 ................................................................................... 10.7.1 137 10.7.2 Filling the gear oil on A4 ....................................................................................... 137 10.8 Changing the gear oil on A5 and A6 .......................................................................... 137 Draining the gear oil on A5 and A6 ....................................................................... 10.8.1 138 10.8.2 Filling with gear oil on A5 and A6 ......................................................................... 139 10.9 Checking the counterbalancing system ..................................................................... 139 10.10 Greasing the cable set ............................................................................................... 140 10.11 Cleaning the robot ...................................................................................................... 11 Adjustment ................................................................................................... 143 143 11.1 Counterbalancing system .......................................................................................... 143 Depressurizing the counterbalancing system on a floor-mounted robot ............... 11.1.1 144 11.1.2 Depressurizing the counterbalancing system on a ceiling-mounted robot ........... Filling and adjusting the counterbalancing system on a floor-mounted robot ....... 11.1.3 145 Filling and adjusting the counterbalancing system on a ceiling-mounted robot (fastened to 11.1.4 floor) ............................................................................................................................... 149 Filling and adjusting the counterbalancing system on a ceiling-mounted robot (fastened to 11.1.5 152 ceiling) ............................................................................................................................... 155 11.2 Measuring and adjusting the toothed belt tension for the in-line wrist, A5, A6 .......... 12 Repair ........................................................................................................... 159 159 12.1 Exchanging motor A1 ................................................................................................. 159 12.1.1 Removing motor A1 .............................................................................................. 12.1.2 Installing motor A1 ................................................................................................ 160 161 12.2 Exchanging motor A2 ................................................................................................. 161 12.2.1 Removing motor A2 .............................................................................................. 12.2.2 Installing motor A2 ................................................................................................ 162 164 12.3 Exchanging motor A3 ................................................................................................. 164 Removing motor A3 .............................................................................................. 12.3.1 12.3.2 Installing motor A3 ................................................................................................ 165 166 12.4 Exchanging motors and drive shafts A4 to A6 ........................................................... 167 Removing motors and drive shafts A4 to A6 ........................................................ 12.4.1 168 12.4.2 Installing motors and drive shafts A4 to A6 .......................................................... 12.5 Exchanging the counterbalancing system on floor-mounted robots .......................... 170 170 Removing the counterbalancing system on a floor-mounted robot ...................... 12.5.1 173 12.5.2 Installing the counterbalancing system on a floor-mounted robot ........................ 12.6 Exchanging the counterbalancing system on a ceiling-mounted robot ...................... 176 Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF) 5 / 233

KR 360-3; KR 500-3 Removing the counterbalancing system on a ceiling-mounted robot ................... 12.6.1 Installing the counterbalancing system on a ceiling-mounted robot ..................... 12.6.2 12.7 Removing and installing toothed belts A5 and A6 ..................................................... 13 Decommissioning, storage and disposal .................................................. 13.1 Decommissioning, floor-mounted robots ................................................................... 13.2 Decommissioning, ceiling-mounted robots ................................................................ 13.3 Storage ...................................................................................................................... 13.4 Disposal ..................................................................................................................... Appendix ...................................................................................................... 14 14.1 Tightening torque ....................................................................................................... 14.2 Safety data sheet for LGEV 2 lubricating grease ...................................................... Designation of substance/formulation and manufacturer ..................................... 14.2.1 Composition / Information about the components ................................................ 14.2.2 14.2.3 Possible hazards .................................................................................................. First aid measures ................................................................................................ 14.2.4 14.2.5 Fire-fighting measures .......................................................................................... 14.2.6 Measures after unintended release ...................................................................... Handling and storage ........................................................................................... 14.2.7 Exposure limits and personal protective equipment ............................................. 14.2.8 14.2.9 Physical and chemical properties ......................................................................... 14.2.10 Stability and reactivity ........................................................................................... 14.2.11 Toxicological information ...................................................................................... 14.2.12 Ecological information .......................................................................................... 14.2.13 Disposal information ............................................................................................. 14.2.14 Transport information ........................................................................................... 14.2.15 Regulations .......................................................................................................... 14.2.16 Other information .................................................................................................. 14.3 Safety data sheet for Castrol Hyspin ZZ 46 hydraulic oil ........................................... Designation of substance/formulation and manufacturer ..................................... 14.3.1 Composition / Information about the components ................................................ 14.3.2 14.3.3 Possible hazards .................................................................................................. First aid measures ................................................................................................ 14.3.4 14.3.5 Fire-fighting measures .......................................................................................... 14.3.6 Measures after unintended release ...................................................................... Handling and storage ........................................................................................... 14.3.7 Exposure limits and personal protective equipment ............................................. 14.3.8 14.3.9 Physical and chemical properties ......................................................................... 14.3.10 Stability and reactivity ........................................................................................... 14.3.11 Toxicological information ...................................................................................... 14.3.12 Ecological information .......................................................................................... 14.3.13 Disposal information ............................................................................................. 14.3.14 Transport information ........................................................................................... 14.3.15 Regulations .......................................................................................................... 14.3.16 Other information .................................................................................................. 14.4 Safety data sheet for Optigear Synthetic RO 150 oil ................................................. Designation of substance/formulation and manufacturer ..................................... 14.4.1 14.4.2 Possible hazards .................................................................................................. 177 179 182 185 185 187 189 190 193 193 193 193 194 194 194 194 195 195 195 195 196 196 196 196 196 197 197 197 197 198 198 198 199 199 200 200 201 201 202 202 202 203 203 203 204 204 204 6 / 233 Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF)

Composition / Information about the components ................................................ 14.4.3 First aid measures ................................................................................................ 14.4.4 14.4.5 Fire-fighting measures .......................................................................................... 14.4.6 Measures after unintended release ...................................................................... Handling and storage ............................................................................................ 14.4.7 14.4.8 Exposure limits and personal protective equipment ............................................. 14.4.9 Physical and chemical properties ......................................................................... 14.4.10 Stability and reactivity ........................................................................................... 14.4.11 Toxicological information ...................................................................................... 14.4.12 Ecological information ........................................................................................... 14.4.13 Disposal information ............................................................................................. 14.4.14 Transport information ............................................................................................ 14.4.15 Regulations ........................................................................................................... 14.4.16 Other information .................................................................................................. 14.5 Safety data sheet for Microlube GL 261 lubricating grease ....................................... 14.5.1 Designation of substance/formulation and manufacturer ..................................... Composition / Information about the components ................................................ 14.5.2 Possible hazards .................................................................................................. 14.5.3 14.5.4 First aid measures ................................................................................................ 14.5.5 Fire-fighting measures .......................................................................................... 14.5.6 Measures after unintended release ...................................................................... 14.5.7 Handling and storage ............................................................................................ Exposure limits and personal protective equipment ............................................. 14.5.8 14.5.9 Physical and chemical properties ......................................................................... 14.5.10 Stability and reactivity ........................................................................................... 14.5.11 Toxicological information ...................................................................................... 14.5.12 Ecological information ........................................................................................... 14.5.13 Disposal information ............................................................................................. 14.5.14 Transport information ............................................................................................ 14.5.15 Regulations ........................................................................................................... 14.5.16 Other information .................................................................................................. 14.6 Safety data sheet for Optitemp RB1 cable grease ..................................................... Designation of substance/formulation and manufacturer ..................................... 14.6.1 Composition / Information about the components ................................................ 14.6.2 Possible hazards .................................................................................................. 14.6.3 14.6.4 First aid measures ................................................................................................ 14.6.5 Fire-fighting measures .......................................................................................... 14.6.6 Measures after unintended release ...................................................................... 14.6.7 Handling and storage ............................................................................................ Exposure limits and personal protective equipment ............................................. 14.6.8 14.6.9 Physical and chemical properties ......................................................................... 14.6.10 Stability and reactivity ........................................................................................... 14.6.11 Toxicological information ...................................................................................... 14.6.12 Ecological information ........................................................................................... 14.6.13 Disposal information ............................................................................................. 14.6.14 Transport information ............................................................................................ 14.6.15 Regulations ........................................................................................................... 14.6.16 Other information .................................................................................................. Contents 205 205 206 206 207 207 208 208 208 208 209 209 209 210 211 211 211 211 212 212 213 213 213 214 214 214 214 214 215 215 215 215 215 216 216 216 217 217 217 217 218 218 218 218 219 219 219 220 Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF) 7 / 233

KR 360-3; KR 500-3 KUKA Service ............................................................................................... 15 15.1 Requesting support ................................................................................................... 15.2 KUKA Customer Support ........................................................................................... Index ............................................................................................................. 221 221 221 229 8 / 233 Issued: 22.07.2013 Version: BA KR 360-3 KR 500-3 V7 en (PDF)

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