View source for Kuka KR 150 L110-2

[[Category:Machines]]

[[File:Machines 13.jpg| thumb |Kuka Robot KR 150 L110–2]]

==Technical specifications==


*'''Model''': Kuka Robotics: KR 150 L110–2
*'''Number of axes''': 6
*'''Maximum reach''': 3,500 mm

==Health & Safety==

==Machine Workflow==

=='''Turn on the machine'''==
*Turn on the air compressor (if working with gripper or spindle)
*Turn on the Kuka box for electronic switches
*Turn on the Kuka controller KRC2 with the black handle
*Wait that the operative system Windows XP turns on
*Press the two buttons on the box attached to the entrance door; first "rearme", then "peticion"
*On the Teach Pendant press the window selection key to switch the selection to the command status window
*Use the soft keys to acknowledge the status
*Copy the file from the USB into the server to execute the file

==End Effectors==

*'''Hotwire Cutter'''

*'''Extruder (Small)'''


Capacity : 1 liter
Nozzle sizes : 2mm / 4mm / 6mm / 8mm

 [[:File: ExtruderA.jpg]]
*'''Extruder (Big)'''


Custom-made Pneumatic Extruder for Viscous Material 
Capaciy : 12.5 liters


Nozzle size : 8mm

Reference Project : https://iaac.net/project/pylos/

 [[:File: ExtruderB.jpg]]
*External Drill
 [[:File: ExtDrill.jpg]]
*'''Large Pnuematic Gripper'''


RPW-625M-1 x 2 + Flexible fixing system 200 to 2000mm distance

Reference Project : https://iaac.net/project/fusta-robotica-otf-2015/
 [[:File: Large_Pneumatic_Gripper.jpg]]
*'''Vacuum gripper'''


COVAL Suction Cups + Strong Vacuum
 [[:File: Vacuum_Gripper.jpg]]
*Measure Pin
 [[:File: MeasurePin.jpg]]
*Saw N1 (External)
 [[:File: SawN1.jpg]]
*Saw N2 (External)
 [[:File: SawN2.jpg]]
*Spindle 
 [[:File: Spindle.jpg]]
*Spindle (External)
 [[:File: SpindleExternal.jpg]]
*Spray 1
 [[:File: SprayA.jpg]]
*Spray 2
 [[:File: SprayB.jpg]]

==Robotic Processes==
List of processes already tested with the KUKA at IAAC (by order of feasibility and accessibility) :
*Light Writing,
*Pen Writing
*Clay Engraving
*Bot&Dolly Camera
*3D Scan (that can be combined with any other process for a slow material feedback loop)
*Pick & Place
*Wire / rope / fibre weaving
*Spraying (paint, glue, fibre, sand, mud, clay)
*Hot Wire Cutting. (EPS foam)
*7D Milling. (foam, plaster, wood,....)
*7D Chain-saw
*3D printing (plastic, clay, hydrogel...)
*Reverse Milling (to be combined with Pick&Place application). 
*Real Time Interaction (to be combined with any other process, need RSI)



List of video of IAAC projects using a robot : 
https://vimeo.com/album/3361210

==Maintenance==
==Downloads==
[https://wiki.fablabbcn.org/index.php?title=Kuka_KR_150_L110-2&action=edit mecanizado de piezas]