PAYLOAD ANALYSIS COMPARISON REPORT
Page 1 of 3
Created by kevinh@tricon.ie
April 3, 2020
Compose v1.7
SELECTED ROBOTS
STATIC
KR 20 R1810-2
DYNAMIC
OK
RESULT
OVERLOADED
ROBOT OVERLOADED
FLANGE PAYLOAD DATA
Flange payload summation
MASS [kg]
11.6
L X [mm]
35
LY
0
LZ
310
IX [kgm2]
0.69
IY
0.62
IZ
0.11
+Y
+Z
LXY
+X
LX
LZ
CENTER OF MASS
LY
+YM
IY
IZ
+ZM
IX
+XM
ROBOTICS CORPORATION
.
customerservice@kuka.com
PAYLOAD ANALYSIS COMPARISON REPORT
Page 2 of 3
Created by kevinh@tricon.ie
April 3, 2020
Compose v1.7
SUPPLEMENTARY PAYLOAD DATA
KR 20 R1810-2
Supplementary payload summation
AXIS 1
AXIS 2
AXIS 3
MASS [kg]
0
MASS [kg]
0
MASS [kg]
10
L X [mm]
0
L X [mm]
160
L X [mm]
-105
LY
0
LY
-105
LY
-51
LZ
324
LZ
520
LZ
-995
IX [kgm2]
0
IX [kgm2]
0
IX [kgm2]
0.3
IY
0
IY
0
IY
0.3
IZ
0
IZ
0
IZ
0.3
Individual supplementary payloads
MASS [kg]
LX
LY
L Z [mm]
IX
IY
IZ [kgm2]
Main axis 1 payload - Axis 1
0
0
0
324
0
0
0
Main axis 2 payload - Axis 2
0
160
-105
520
0
0
0
Main axis 3 payload - Axis 3
10
-105
-51
-995
0.3
0.3
0.3
ROBOTICS CORPORATION
.
customerservice@kuka.com
PAYLOAD ANALYSIS COMPARISON REPORT
Created by kevinh@tricon.ie
April 3, 2020
Compose v1.7
Page 3 of 3
ANALYSIS
PAYLOAD
Center of mass
STATIC ANALYSIS
DYNAMIC ANALYSIS
ROBOTICS CORPORATION
.
customerservice@kuka.com
KR 20 R1810-2
PAYLOAD ANALYSIS
SIGN-OFF
SHEET COMPARISON REPORT
Page 1 of 4
Created by kevinh@tricon.ie
April 3, 2020
Compose v1.7
KR 20 R1810-2
STATIC
DYNAMIC
RESULT
OK
OVERLOADED
ROBOT OVERLOADED
FLANGE PAYLOAD DATA
Flange payload summation
MASS [kg]
11.6
L X [mm]
35
LY
0
LZ
310
IX [kgm2]
0.69
IY
0.62
IZ
0.11
+Y
+Z
LXY
+X
LX
LZ
CENTER OF MASS
LY
+YM
IY
IZ
+ZM
IX
+XM
ROBOTICS CORPORATION
.
customerservice@kuka.com
PAYLOAD
SIGN-OFF ANALYSIS
SHEET COMPARISON REPORT
Created
by kevinh@tricon.ie
Created
by kevinh@tricon.ie
April 3, 2020
April 3, 2020
Compose v1.7
Compose v{major}.{minor}
Page 2 of 4
SUPPLEMENTARY PAYLOAD DATA
KR 20 R1810-2
Supplementary payload summation
AXIS 1
AXIS 2
AXIS 3
MASS [kg]
0
MASS [kg]
0
MASS [kg]
10
L X [mm]
0
L X [mm]
160
L X [mm]
-105
LY
0
LY
-105
LY
-51
LZ
324
LZ
520
LZ
-995
IX [kgm2]
0
IX [kgm2]
0
IX [kgm2]
0.3
IY
0
IY
0
IY
0.3
IZ
0
IZ
0
IZ
0.3
Individual supplementary payloads
MASS [kg]
LX
LY
L Z [mm]
IX
IY
IZ [kgm2]
Main axis 1 payload - Axis 1
0
0
0
324
0
0
0
Main axis 2 payload - Axis 2
0
160
-105
520
0
0
0
Main axis 3 payload - Axis 3
10
-105
-51
-995
0.3
0.3
0.3
ROBOTICS CORPORATION
.
customerservice@kuka.com
PAYLOAD
SIGN-OFF ANALYSIS
SHEET COMPARISON REPORT
Created
by kevinh@tricon.ie
Created
by kevinh@tricon.ie
April 3, 2020
April 3, 2020
Compose v1.7
Compose v{major}.{minor}
Page 3 of 4
KR 20 R1810-2
STATIC
DYNAMIC
RESULT
OK
OVERLOADED
Customer
Load data determined by
CAD
Manually
LDD
Version
SW release
Station
Controller name
Controller
Serial number
Robot type
Application
Tool name
Tool number
Supply voltage (V)
Load data correctly assigned to the controller
ROBOTICS CORPORATION
.
customerservice@kuka.com
ROBOT OVERLOADED
PAYLOAD
SIGN-OFF ANALYSIS
SHEET COMPARISON REPORT
Created
by kevinh@tricon.ie
Created
by kevinh@tricon.ie
April 3, 2020
April 3, 2020
Compose v1.7
Compose v{major}.{minor}
Page 4 of 4
Sign off is:
rejected because:
granted conditionally:
granted unconditionally:
Overloading the robot is not permitted. If the robot is overloaded, safe operation cannot be guaranteed. External forces
and torques (e.g. process forces) are not included in the calculations. In such cases,
must be consulted in advance.
The load data for each robot must be correctly assigned to the system. Correct operation of robots in palletizing mode
must be ensured. Sign-off is granted exclusively for the currently specified load data. This sign-off is invalidated if the
robot tool is changed.
Signtature
Date
CERTIFICATION (opt)
Country
Date
Stamp here
ROBOTICS CORPORATION
.
customerservice@kuka.com