Fanuc Robot Transport Position

[Stephani Kapnick]

Hiall, I would ask you a compelling and I suppose silly question:

we are moving a working station which has a Kuka 60HA robot. I suddently realized that I don't know which is the robot 'close' position: the one with the barycenter close to the robot center, to transport it. Is it stored somewhere? I searched on the manual but hadn't find anything yet.

Thanks a lot in advance for your precious help!

Thnaks for the quick reply! That's actually what I was going to do, I was just scared to unfix the robot from the ground and to see it falling down because of a wrong position

Much more relaxed now

Experience gained from many years of shipping robots:

Be sure to collapse and tuck the arm, then block the joints with foam blocks, wood blocks, stacked cardboard, bubble wrap, down pillows, whatever. It's never a good idea to try to use the motor brakes and geartrains to counteract the bouncy-bouncy action of shipping robots on a truck trying to make the arm links remain stationary.

The official factory joint angles for shipping position are indeed recorded on a sticker/plate on most KUKAbots. This is a position where the robot will balance tolerably well, with no paylod. If you have a heavy end effector mounted, this may not be the case. Or, you may have an end effector that is too large to allow the robot to reach this position.

Also, the official shipping position may actually require removing the rubber block from the A2 hard stop -- this is because some models (the KR500 is one, as I recall) are too tall to fit into a standard shipping crate unless the rubber block is removed and $SOFTN_END[2] is temporarily increased to allow the robot to "squat" by a few more degrees.

That having been said, usually just squatting the robot into something close to the factory shipping position and adding some bracing to keep the arm from drooping due to transport vibration should be enough for most typical applications.

this is meant as an emergency release. turning motor shaft while brakes are applied will wear brakes. energizing brakes will not "be end of them", it will release them and depending on axis, robot may collapse...

I must do a Back-up of the robot (just in case something gets lost or i must restore the system settings) -> put it in transport position ->cut the power and other connections (ex. from a PLC) -> pack it up -> move it ->unpack and redo the connections -> power on and it all should be the same?

transport position may not work for every robot after it was used, for example energy supply, tooling etc may be in a way, so wrist may have to be moved to nearest suitable position. if tooling is heavy consider extra support but make sure that skid on which robot and this support are mounted is not flexing. rough transport may cause loss of mastering.

and make sure that robot and controller are protected from elements during transport. so use closed trailer if possible or tarp it really well. even leave some bags of desiccant at strategic places just like KUKA did.

Another item: the truck that carries the KR and KRC should be an "air ride" trailer, or something similar. The robot is fairly robust against vibrations, but the RDW board in its base is more fragile. And I've had KRCs destroyed by shipping only 200km, on good roads, using a "normal" trailer.

If you can't get an air-ride trailer, then the KRC should be supported on some kind of shock-damping cushion. Something like these Pallet Pillows -- they should be arranged such that the weight of the KRC is carried on the pillows. KUKA uses something similar when shipping KRC2 from Europe, as I recall.

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