Spez LBR Iisy en

Robots
LBR iisy
Specification
Issued: 14.10.2022
Spez LBR iisy V1
KUKA Deutschland GmbH
LBR iisy
© Copyright 2022
KUKA Deutschland 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 Deutschland 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 soft-
ware 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 regu-
lar basis, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation
Publication: Pub Spez LBR iisy (PDF) en

PB21108
Book structure: Spez LBR iisy V2.1

BS18157
Version: Spez LBR iisy V1
2/76 | www.kuka.com Spez LBR iisy V1 | Issued: 14.10.2022

LBR iisy
Contents
1 Introduction.............................................................................................. 5
1.1 Target group.......................................................................................................... 5
1.2 Industrial robot documentation.............................................................................. 5
1.3 Representation of warnings and notes................................................................. 5
1.4 Terms used............................................................................................................ 6
2 Product description................................................................................. 9
2.1 Overview of the robot system............................................................................... 9
2.2 Description of the manipulator.............................................................................. 9
2.3 Intended use and misuse...................................................................................... 12
3 Safety......................................................................................................... 15
3.1 General.................................................................................................................. 15
3.1.1 Disclaimer.............................................................................................................. 15
3.1.2 EC declaration of conformity and declaration of incorporation............................ 16
3.1.3 Terms in the “Safety” chapter............................................................................... 16
3.2 Personnel............................................................................................................... 18
3.3 Workspace, safety zone and danger zone........................................................... 19
3.4 Overview of protective equipment........................................................................ 19
3.4.1 Mechanical end stops........................................................................................... 20
3.4.2 Mechanical axis limitation (optional)..................................................................... 20
3.4.3 Options for moving the manipulator without drive energy................................... 20
3.4.4 Labeling on the industrial robot............................................................................ 21
3.5 Safety measures.................................................................................................... 21
3.5.1 General safety measures...................................................................................... 21
3.5.2 Transportation........................................................................................................ 23
3.5.3 Start-up and recommissioning.............................................................................. 24
3.5.4 Manual mode......................................................................................................... 25
3.5.5 Automatic mode..................................................................................................... 26
3.5.6 Maintenance and repair........................................................................................ 27
3.5.7 Decommissioning, storage and disposal.............................................................. 29
4 Technical data.......................................................................................... 31
4.1 Basic data overview.............................................................................................. 31
4.2 Axis data overview................................................................................................ 32
4.3 Payloads overview................................................................................................. 36
4.4 Foundation loads overview................................................................................... 41
4.5 LBR iisy plates and labels.................................................................................... 43
4.6 REACH duty to communicate information acc. to Art. 33................................... 45
4.7 Stopping distances and times............................................................................... 45
4.7.1 General information............................................................................................... 45
4.7.2 Stopping distances and times, LBR iisy 11 R1300.............................................. 46
4.7.2.1 Stopping distances and stopping times, STOP 0, A1 to A3............................... 46
4.7.2.2 Stopping distances and stopping times, STOP 1, A1.......................................... 48
4.7.3 Stopping distances and times, LBR iisy 15 R930............................................... 54
Spez LBR iisy V1 | Issued: 14.10.2022 www.kuka.com | 3/76

LBR iisy
4.7.3.1 Stopping distances and stopping times, STOP 0, A1 to A3............................... 54

5 Planning.................................................................................................... 61
5.1 Information for planning........................................................................................ 61
5.2 Mounting base (optional)....................................................................................... 61
5.3 Machine frame mounting (optional)...................................................................... 64
5.4 Connecting cables and interfaces......................................................................... 66
6 Appendix................................................................................................... 71
6.1 Applied standards and regulations....................................................................... 71
7 KUKA Service........................................................................................... 73
7.1 Requesting support............................................................................................... 73
7.2 KUKA Customer Support...................................................................................... 73
Index 75

LBR iisy
Introduction
1 Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and

skills:
• Advanced knowledge of mechanical engineering
• Advanced knowledge of electrical engineering
• Knowledge of the robot controller system
For optimal use of KUKA products, we recommend the training courses

offered by KUKA College. Information about the training program can be
found at www.kuka.com or can be obtained directly from our subsidia-
ries.
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts:
• Documentation for the robot arm

• Documentation for the robot controller
• Documentation for the smartPAD-2 or smartPAD pro (if used)
• Operating and programming instructions for the System Software
• Instructions for options and accessories
• Spare parts overview in KUKA Xpert
Each set of instructions is a separate document.
1.3 Representation of warnings and notes
Safety
These warnings are provided for safety purposes and must be observed.
DANGER
These warnings mean that it is certain or highly probable that death or
severe injuries will occur, if no precautions are taken.
WARNING
These warnings mean that death or severe injuries may occur, if no
precautions are taken.
CAUTION
These warnings mean that minor injuries may occur, if no precautions
are taken.
NOTICE
These warnings mean that damage to property may occur, if no precau-
tions are taken.
These warnings contain references to safety-relevant information or gen-

eral safety measures.
These warnings do not refer to individual hazards or individual precau-
tionary measures.

LBR iisy
This warning draws attention to procedures which serve to prevent or rem-

Introduction
edy emergencies or malfunctions:

SAFETY INSTRUCTION
The following procedure must be followed exactly!
Procedures marked with this warning must be followed exactly.
Notices
These notices serve to make your work easier or contain references to

further information.
Tip to make your work easier or reference to further information.
1.4 Terms used
The overview may contain terms symbols that are not relevant for this
document.
Term Description
Axis range Range within which the axis may move The axis range must be de-
fined for each axis.
Workspace Area within which the robot may move. The workspace is derived
from the individual axis ranges.
EDS Electronic Data Storage

(memory card)
EMD Electronic Mastering Device
Danger zone The danger zone consists of the workspace and the stopping dis-
tances of the manipulator and external axes (optional).
LBR Lightweight robot
KR C KUKA Robot Control

Robot controller
KUKA smartPAD see “smartPAD”
KUKA smartPAD pro see “smartPAD”
Manipulator The robot arm and the associated electrical installations
MEMD Micro Electronic Mastering Device

LBR iisy
Introduction
smartPAD Teach pendant for the robot controller
The smartPAD has all the operator control and display functions re-
quired for operation and programming. The following models exist:
• KUKA smartPAD
• KUKA smartPAD-2
• KUKA smartPAD pro
For robot controllers of the KR C5 series with KUKA System Soft-
ware or VW System Software, only the model KUKA smartPAD-2
is used.
For robot controllers of the KR C5 series with KUKA iiQKA.OS, on-
ly the model KUKA smartPAD pro is used.
For other robot controllers, the designation “KUKA smartPAD” or
“smartPAD” always refers to all models possible for the respective
controller unless an explicit distinction is made.
Stop category 0 The drives are deactivated immediately and the brakes are applied.
The manipulator and any external axes (optional) perform path-ori-
ented braking.
Note: This stop category is called “STOP 0” in this document.
Stop category 1 The manipulator and any external axes (optional) perform path-
maintaining braking. The drives are only disconnected once the ma-
chine has come to a standstill.
Stop category 1 – The manipulator and any external axes (optional) perform path-ori-
Drive Ramp Stop ented braking. The drives are only disconnected once the machine
has come to a standstill.
Note: This stop category is called “STOP 1 - DRS” in this docu-
ment.
Stop category 2 The drives are not deactivated and the brakes are not applied. The
manipulator and any external axes (optional) are braked with a
path-maintaining braking ramp.
T1 Test mode, Manual Reduced Velocity (<= 250 mm/s)
T2 Test mode, Manual High Velocity (> 250 mm/s permissible)
TPC Torque Position Converter

The torque position converter is used to record motor data (e.g. po-
sition data, motor temperatures) and to evaluate data of the joint
torque sensors.

Introduction LBR iisy

LBR iisy
Product description
2 Product description
2.1 Overview of the robot system
A robot system (>>> Fig. 2-1) comprises all the assemblies of an industri-
al robot, including the manipulator (robot arm and electrical installations),
controller, connecting cables, end effector (tool) and other equipment.
The industrial robot consists of the following components:
• Manipulator
• Robot controller
• smartPAD control panel
• Connecting cables
• Software
• Options, accessories
Fig. 2-1: Overview of robot system
1 Manipulator
2 Connecting cables
3 Robot controller (KR C5 micro)
4 Teach pendant (KUKA smartPAD pro)
2.2 Description of the manipulator
Overview
The manipulators (manipulator = robot arm and electrical installations) of

the LBR iisy robot family belong to the lightweight robots and are de-
signed as 6-axis articulated robots. All drive units and current-carrying ca-
bles are located inside the robot. They consist of the following principal
components.
• Commander with ISO flange
• Wrist
• Arm
• Link arm
• Rotating column

Product description LBR iisy
• Base frame
• Electrical installations
Every axis contains multiple sensors that provide signals for robot control
(e.g. position control and impedance control) and that are also used as a
protective function for the robot. Every axis is thus monitored by sensors:
axis range sensors ensure that the permissible axis range is adhered to,
torque sensors ensure that the permissible axis loads are not exceeded,
and temperature sensors monitor the thermal limit values of the electron-
ics.
Fig. 2-2: Main groups
1 Commander 5 Wrist (main body)

2 Wrist (swivel housing) 6 Rotating column
3 Link arm 7 Electrical installations
4 Arm 8 Base frame
Commander with ISO flange
The Commander is fastened to axis 6 together with the ISO flange and
performs the rotational motions of A6. Axis 6 is a rotational axis.
The Commander serves as a universal interface that enables external
tools to be connected. The robot can be guided, operated and program-
med in a controlled manner using the handle on the Commander.
The Commander consists of the following components:
• External interface A6
• LED status indicator
• Back key
• Handle
• Enabling switch
• Rotary encoder

LBR iisy
Product description
Fig. 2-3: Commander
1 Commander
2 Enabling switch
3 Back key
4 Handle
5 Rotary encoder
6 LED status indicator
7 Wrist
8 Blanking plate, Commander/external interface A6
9 ISO flange
Wrist
The wrist consists of a main body and swivel housing.

The main body connects axis 4 and axis 5. The main body performs the
rotational motion of axis 4, which is a rotational axis. The main body is
available in two lengths in order to achieve the different length increments.
An input stage for axis 5 is housed in the main body as a belt transmis-
sion. This simultaneously reduces the interference contour of the wrist.
The swivel housing connects axis 5 and axis 6 and performs the rotational
motion of axis 5. Axis 5 is a jointed axis.
Arm
The arm is connected to the link arm via gear unit A3 and links the in-line
wrist with the link arm. It houses motor A3 and performs the rotational
motion of axis 3.
Link arm
The link arm is the assembly located between the rotating column and the
arm and performs the rotational motion of axis 2. It is connected to adja-
cent structural components via gear units A2 and A3. Axis 2 is a jointed
axis.
In order to achieve the different length increments of the robot variants,
the link arm is available in two lengths. The TPC is mounted in the link
arm and the cable set has intermediate connections there.
Rotating column
The rotating column houses the motor of axis 2. The rotational motion of
axis 1 is performed by the rotating column. This is screwed to the base
frame via the gear unit of axis 1 and is driven by motor A1 in the base
frame.

Base frame
The base frame is the base of the robot. Interface A1 is located at the
rear of the base frame. It constitutes the interface for the connecting ca-
bles between the robot, the controller and the energy supply system.
Electrical installations
The electrical installations include all the motor and data cables for the
motors of axes 1 to 6, as well as the connections for the internal energy
supply system. All connections are pluggable. The electrical installations
also include the TPC, which is integrated into the robot. The connectors
for the motor and data cables are mounted on the robot base frame. The
connecting cables from the robot controller are connected here by means
of connectors. The electrical installations also include a protective circuit.
Options
The robot can, for example, be equipped with the following options. The
option is described in separate documentation.
• Energy supply system A1 to A6
• Brake release device
• Adapter ring kit LBR iiwa/LBR iisy
The robot can be equipped and operated with the following options.
• Connector bypack for external interface A1
• Connector bypack for external interface A6
• Optional connecting cables
‒ I/O connecting cable
‒ GigaBit connecting cable
‒ External ground conductor
2.3 Intended use and misuse
Intended use
The industrial robot is intended for handling tools and fixtures or for pro-
cessing and transferring components or products. Use is only permitted
under the specified environmental conditions.
Operation of the industrial robot in accordance with its intended use also
requires compliance with the operating and assembly instructions for the
individual components, with particular reference to the maintenance speci-
fications.
Misuse
Any use or application deviating from the intended use is deemed to be

misuse and is not allowed. It will result in the loss of warranty and liability
claims. KUKA is not liable for any damage resulting from such misuse.
This includes e.g.:
• Use as a climbing aid
• Operation outside the specified operating parameters
• Operation without the required safety equipment
• Transportation of persons and animals
• Outdoor operation.
• Use in a potentially explosive area

LBR iisy
Product description
• Use in radioactive environments
• Operation in underground mining


LBR iisy
Safety
3 Safety
3.1 General
• This “Safety” chapter refers to a mechanical component of an indus-

trial robot.
• If the mechanical component is used together with a KUKA robot
controller, the “Safety” chapter of the operating instructions or as-
sembly instructions of the robot controller must be used!
This contains all the information provided in this “Safety” chapter. It
also contains additional safety information relating to the robot con-
troller which must be observed.
• Where this “Safety” chapter uses the term “industrial robot”, this also
refers to the individual mechanical component if applicable.
3.1.1 Disclaimer
The device described in this document is either an industrial robot or a

component thereof.
Components of the industrial robot:
• Manipulator
• Robot controller
• Teach pendant
• Connecting cables
• External axes (optional)
e.g. linear unit, turn-tilt table, positioner
• Software
• Options, accessories
The industrial robot is built using state-of-the-art technology and in accord-
ance with the recognized safety rules. Nevertheless, misuse of the indus-
trial robot may constitute a risk to life and limb or cause damage to the
industrial robot and to other material property.
The industrial robot may only be used in perfect technical condition in ac-
cordance with its intended use and only by safety-conscious persons who
are fully aware of the risks involved in its operation. Use of the industrial
robot is subject to compliance with this document and with the declaration
of incorporation supplied together with the industrial robot. Any functional
disorders, especially those affecting safety, must be rectified immediately.
Safety information
Information about safety may not be construed against the manufacturer.

Even if all safety instructions are followed, this is not a guarantee that the
industrial robot will not cause personal injuries or material damage.
No modifications may be carried out to the industrial robot without the au-
thorization of the manufacturer. Unauthorized modifications will result in
the loss of warranty and liability claims.
Additional components (tools, software, etc.), not supplied by the manufac-
turer, may be integrated into the industrial robot. The user is liable for any
damage these components may cause to the industrial robot or to other
material property.
In addition to the Safety chapter, this document contains further safety in-
structions. These must also be observed.

Safety LBR iisy
3.1.2 EC declaration of conformity and declaration of incorporation
The industrial robot constitutes partly completed machinery as defined by

the EC Machinery Directive. The industrial robot may only be put into op-
eration if the following preconditions are met:
• The industrial robot is integrated into a complete system.
or: The industrial robot, together with other machinery, constitutes a
complete system.
or: All safety functions and safeguards required for operation in the
complete machine as defined by the EC Machinery Directive have
been added to the industrial robot.
• The complete system complies with the EC Machinery Directive. This
has been confirmed by means of a conformity assessment procedure.
EC declaration of conformity
The system integrator must issue an EC declaration of conformity for the

complete system in accordance with the Machinery Directive. The EC dec-
laration of conformity forms the basis for the CE mark for the system. The
industrial robot must always be operated in accordance with the applicable
national laws, regulations and standards.
The robot controller has a CE mark in accordance with the EMC Directive
and the Low Voltage Directive.
Declaration of incorporation
The partly completed machinery is supplied with a declaration of incorpo-

ration in accordance with Annex II B of the Machinery Directive
2006/42/EC. The assembly instructions and a list of essential require-
ments complied with in accordance with Annex I are integral parts of this
declaration of incorporation.
The declaration of incorporation declares that the start-up of the partly
completed machinery is not allowed until the partly completed machinery
has been incorporated into machinery, or has been assembled with other
parts to form machinery, and this machinery complies with the terms of
the EC Machinery Directive, and the EC declaration of conformity is
present in accordance with Annex II A.
3.1.3 Terms in the “Safety” chapter
Term Description
Axis range Range within which the axis may move The axis range must be de-
fined for each axis.
Stopping distance Stopping distance = reaction distance + braking distance

The stopping distance is part of the danger zone.
Workspace Area within which the robot may move. The workspace is derived
from the individual axis ranges.
User The user of the industrial robot can be the management, employer
or delegated person responsible for use of the industrial robot.

LBR iisy
Safety
Service life The service life of a safety-relevant component begins at the time
of delivery of the component to the customer.
The service life is not affected by whether the component is used
or not, as safety-relevant components are also subject to aging dur-
ing storage.
Danger zone The danger zone consists of the workspace and the stopping dis-
tances of the manipulator and external axes (optional).
KCP KUKA Control Panel

Teach pendant for the KR C2/KR C2 edition2005
The KCP has all the operator control and display functions required
for operating and programming the industrial robot.
KUKA smartPAD see “smartPAD”
KUKA smartPAD-2 see “smartPAD”
Manipulator The robot arm and the associated electrical installations
Safety zone The safety zone is situated outside the danger zone.
Safety options Generic term for options which make it possible to configure addi-
tional safe monitoring functions in addition to the standard safety
functions.
Example: SafeOperation
smartPAD Teach pendant for the robot controller

The smartPAD has all the operator control and display functions re-
quired for operation and programming. The following models exist:
• KUKA smartPAD
• KUKA smartPAD-2
• KUKA smartPAD pro
For robot controllers of the KR C5 series with KUKA System Soft-
ware or VW System Software, only the model KUKA smartPAD-2
is used.
For robot controllers of the KR C5 series with KUKA iiQKA.OS, on-
ly the model KUKA smartPAD pro is used.
For other robot controllers, the designation “KUKA smartPAD” or
“smartPAD” always refers to all models possible for the respective
controller unless an explicit distinction is made.
Stop category 0 The drives are deactivated immediately and the brakes are applied.
The manipulator and any external axes (optional) perform path-ori-
ented braking.
Stop category 1 The manipulator and any external axes (optional) perform path-
maintaining braking. The drives are only disconnected once the ma-
chine has come to a standstill.

Safety LBR iisy
Stop category 1 – The manipulator and any external axes (optional) perform path-ori-
Drive Ramp Stop ented braking. The drives are only disconnected once the machine
has come to a standstill.
Note: This stop category is called “STOP 1 - DRS” in this docu-
ment.
Stop category 2 The drives are not deactivated and the brakes are not applied. The
manipulator and any external axes (optional) are braked with a
path-maintaining braking ramp.
System integrator The system integrator is responsible for safely integrating the indus-
(plant integrator) trial robot into a complete system and commissioning it.
T1 Test mode, Manual Reduced Velocity (<= 250 mm/s)
T2 Test mode, Manual High Velocity (> 250 mm/s permissible)
External axis Motion axis which is not part of the manipulator but is controlled by
the robot controller, e.g. KUKA linear unit, turn-tilt table, positioner.
3.2 Personnel
The following persons or groups of persons are defined for the industrial
robot:
• User
• Personnel
Qualification of personnel
Work on the system must only be performed by personnel that is able
to assess the tasks to be carried out and detect potential hazards.
Death, severe injuries or damage to property may otherwise result. The
following qualifications are required:
• Adequate specialist training, knowledge and experience
• Knowledge of the relevant operating or assembly instructions, knowl-
edge of the relevant standards
• All persons working with the industrial robot must have read and un-
derstood the industrial robot documentation, including the safety
chapter.
User
The user must observe the labor laws and regulations. This includes e.g.:
• The user must comply with his monitoring obligations.

• The user must carry out briefing at defined intervals.
• The user must comply with the regulations relating to personal protec-
tive equipment (PPE).
Personnel
Personnel must be instructed, before any work is commenced, in the type

of work involved and what exactly it entails as well as any hazards which
may exist. Instruction must be carried out regularly. Instruction is also re-
quired after particular incidents or technical modifications.

LBR iisy
Personnel includes:
Safety
• System integrator
• Operators, subdivided into:
‒ Start-up, maintenance and service personnel
‒ Operating personnel
‒ Cleaning personnel
System integrator
The industrial robot is safely integrated into a complete system by the sys-
tem integrator.
The system integrator is responsible for the following tasks:
• Installing the industrial robot

• Connecting the industrial robot
• Performing the risk assessment
• Implementing the required safety functions and safeguards
• Issuing the EC declaration of conformity
• Affixing the CE mark
• Creating the operating instructions for the system
Operators
The operator must meet the following preconditions:

• The operator must be trained for the work to be carried out.
• Work on the system must only be carried out by qualified personnel.
These are people who, due to their specialist training, knowledge and
experience, and their familiarization with the relevant standards, are
able to assess the work to be carried out and detect any potential
hazards.
3.3 Workspace, safety zone and danger zone
Workspaces are to be restricted to the necessary minimum size.

The danger zone consists of the workspace and the stopping distances of
the manipulator and external axes (optional). The danger zone must be
protected by means of physical safeguards to prevent danger to persons
or the risk of material damage.
The safeguards (e.g. safety gate) must be located outside the danger
zone. In the case of a stop, the manipulator and external axes (optional)
are braked and come to a stop within the danger zone.
There must be no shearing or crushing hazards at the loading and trans-
fer areas.
If there are no physical safeguards present, the requirements for collabo-
rative operation in accordance with EN ISO 10218 must be met.
3.4 Overview of protective equipment
The protective equipment of the mechanical component may include:
• Mechanical end stops

• Mechanical axis limitation (optional)
• Release device (optional)
• Brake release device (optional)

Safety LBR iisy
• Labeling of danger areas

Not all equipment is relevant for every mechanical component.
3.4.1 Mechanical end stops
Depending on the robot variant, the axis ranges of the main and wrist ax-
es of the manipulator are partially limited by mechanical end stops.
Additional mechanical end stops can be installed on the external axes.
WARNING
Danger to life and limb following collision with obstacle
If the manipulator or an external axis hits an obstruction or a mechani-
cal end stop or mechanical axis limitation, the manipulator can no
longer be operated safely. Death, injuries or damage to property may re-
sult.
• Put manipulator out of operation.
• KUKA must be consulted before it is put back into operation.
3.4.2 Mechanical axis limitation (optional)
Some manipulators can be fitted with adjustable mechanical axis limitation

systems in axes A1 to A3. The axis limitation systems restrict the working
range to the required minimum. This increases personal safety and pro-
tection of the system.
In the case of manipulators that are not designed to be fitted with me-
chanical axis limitation, the workspace must be laid out in such a way that
there is no danger to persons or material property, even in the absence of
mechanical axis limitation.
If this is not possible, the workspace must be limited by means of photo-
electric barriers, photoelectric curtains or mechanical limitations on the
system side. There must be no shearing or crushing hazards at the load-
ing and transfer areas.
This option is not available for all robot models. Information on specific
robot models can be obtained from the manufacturer.
3.4.3 Options for moving the manipulator without drive energy
Qualification of personnel with regard to behavior in emergency

situations
In emergencies or other exceptional situations, it may be necessary to
move the manipulator without drive energy.
• Personnel must be trained in how to move the manipulator without
drive energy.
Description
The following options may be available for moving the manipulator without
drive energy after an accident or malfunction:
• Release device (optional)
The release device can be used for the main axis drive motors and,
depending on the robot variant, also for the wrist axis drive motors.

LBR iisy
Safety
• Brake release device (option)
The brake release device is designed for robot variants whose motors
are not freely accessible.
• Moving the wrist axes directly by hand
There is no release device available for the wrist axes of variants in
the low payload category. This is not necessary because the wrist ax-
es can be moved directly by hand.
Information about the options available for the various robot models and
about how to use them can be found in the assembly and operating in-
structions for the robot or can be requested from the manufacturer.
NOTICE
Damage to property due to moving the manipulator without drive
energy
Moving the manipulator without drive energy can damage the motor
brakes of the axes concerned.
• Only move the manipulator without drive energy in emergencies,
e.g. for rescuing persons.
• Perform brake test.
• The motor must be replaced if the brake has been damaged.
3.4.4 Labeling on the industrial robot
All plates, labels, symbols and marks constitute safety-relevant parts of

the industrial robot. They must not be modified or removed.
Labeling on the industrial robot consists of:
• Identification plates
• Warning signs
• Safety symbols
• Designation labels
• Cable markings
• Rating plates
Further information is contained in the technical data of the operating in-

structions or assembly instructions of the components of the industrial
robot.
3.5 Safety measures
3.5.1 General safety measures
The industrial robot may only be used in perfect technical condition in ac-
cordance with its intended use and only by safety-conscious persons. Op-
erator errors can result in personal injury and damage to property.
It is important to be prepared for possible movements of the industrial ro-
bot even after the robot controller has been switched off and locked out.
Incorrect installation (e.g. overload) or mechanical defects (e.g. brake de-
fect) can cause the manipulator or external axes to sag. If work is to be
carried out on a switched-off industrial robot, the manipulator and external
axes must first be moved into a position in which they are unable to move
on their own, whether the payload is mounted or not. If this is not possi-

LBR iisy
ble, the manipulator and external axes must be secured by appropriate

Safety
means.
DANGER
Risk of fatal injury due to non-operational safety functions or exter-
nal safeguards
In the absence of operational safety functions or safeguards, the indus-
trial robot can cause death, severe injuries or damage to property.
• If safety functions or safeguards are dismantled or deactivated, do
not operate the industrial robot.
DANGER
Danger to life and limb of persons under the robot arm
Sagging or falling parts can cause death or serious injuries. This applies
at all times, e.g. also for assembly tasks or with the controller switched
off.
• Never loiter under the robot arm.
CAUTION
Risk of burns from hot motors
The motors reach temperatures during operation which can cause
burns.
• Avoid contact.
• Take appropriate safety precautions, e.g. wear protective gloves.
Implants
WARNING
Danger to life due to malfunction of implants caused by motors
and brakes
Electric motors and brakes generate electric and magnetic fields. The
fields can cause malfunctions in active implants, e.g. pacemakers.
• Affected persons must maintain a minimum distance of 300 mm
from motors and brakes. This applies to both energized and deener-
gized motors and brakes.
KCP/smartPAD
The user must ensure that the industrial robot is only operated with the
KCP/smartPAD by authorized persons.
If more than one KCP/smartPAD is used in the overall system, it must be
ensured that each device is unambiguously assigned to the corresponding
industrial robot. They must not be interchanged.
WARNING
Danger to life due to disconnected smartPAD/KCP
If a smartPAD/KCP is disconnected, its EMERGENCY STOP device is
not operational. There is a risk of connected and disconnected smart-
PADs/KCPs being interchanged. Death, injuries or damage to property
may result.
• Remove the disconnected smartPAD/KCP from the system immedi-
ately.
• Store the disconnected smartPAD/KCP out of sight and reach of
personnel working on the industrial robot.

LBR iisy
Safety
External keyboard, external mouse
An external keyboard and/or external mouse may only be used if the fol-
lowing conditions are met:
• Start-up or maintenance work is being carried out.

• The drives are switched off.
• There are no persons in the danger zone.
The KCP/smartPAD must not be used as long as an external keyboard
and/or external mouse are connected to the control cabinet.
The external keyboard and/or external mouse must be removed from the
control cabinet as soon as the start-up or maintenance work is completed
or the KCP/smartPAD is connected.
Modifications
After modifications to the industrial robot, checks must be carried out to

ensure the required safety level. The valid national or regional work safety
regulations must be observed for this check. The correct functioning of all
safety functions must also be tested.
New or modified programs must always be tested first in Manual Reduced
Velocity mode (T1).
After modifications to the industrial robot, existing programs must always
be tested first in Manual Reduced Velocity mode (T1). This applies to all
components of the industrial robot and includes e.g. modifications of the
external axes or to the software and configuration settings.
Faults
In the case of faults on the industrial robot, the following safety measures
must be implemented immediately:
• Switch off the robot controller and secure it (e.g. with a padlock) to
prevent unauthorized persons from switching it on again.
• Indicate the fault by means of a label with a corresponding warning
(tagout).
• Keep a record of the faults.
Carry out a functional test after the fault has been rectified.
3.5.2 Transportation
Manipulator
The prescribed transport position of the manipulator must be observed.

Transportation must be carried out in accordance with the operating in-
structions or assembly instructions of the robot.
Avoid vibrations and impacts during transportation in order to prevent
damage to the manipulator.
Robot controller
The prescribed transport position of the robot controller must be observed.

Transportation must be carried out in accordance with the operating in-
structions or assembly instructions of the robot controller.
Avoid vibrations and impacts during transportation in order to prevent
damage to the robot controller.

Safety LBR iisy
External axis (optional)
The prescribed transport position of the external axis (e.g. KUKA linear
unit, turn-tilt table, positioner) must be observed. Transportation must be
carried out in accordance with the operating instructions or assembly in-
structions of the external axis.
3.5.3 Start-up and recommissioning
Before starting up systems and devices for the first time, a check must be
carried out to ensure that the systems and devices are complete and op-
erational, that they can be operated safely and that any damage is detec-
ted.
The valid national or regional work safety regulations must be observed
for this check. The correct functioning of all safety circuits must also be
tested.
Changing default passwords
The KUKA System Software is supplied with default passwords for the
user groups. If the passwords are not changed, this enables unauthor-
ized persons to log on.
• Before start-up, change the passwords for the user groups.
• Only communicate the passwords to authorized personnel.
WARNING
Danger to life and limb due to incorrectly assigned cables
The robot controller is preconfigured for the specific industrial robot. The
manipulator and other components can receive incorrect data if they are
connected to a different robot controller. Death, severe injuries or dam-
age to property may result.
• Only connect the manipulator to the corresponding robot controller.
Do not impair safety functions

Additional components (e.g. cables and hoses) not supplied by KUKA
may be integrated into the industrial robot. If the safety functions are not
taken into consideration, this may result in death, severe injuries or
damage to property.
• Additional components must not impair or disable safety functions.
NOTICE
Damage to property due to condensation
If the internal cabinet temperature of the robot controller differs greatly
from the ambient temperature, condensation can form. This may result
in damage to property.
• Wait until the internal cabinet temperature has adapted to the ambi-
ent temperature in order to avoid condensation.
Function test
The following tests must be carried out before start-up and recommission-
ing:
It must be ensured that:
• The industrial robot is correctly installed and fastened in accordance

with the specifications in the documentation.

LBR iisy
Safety
• There is no damage to the robot that could be attributed to external
forces. Example: Dents or abrasion that could be caused by an impact
or collision.
WARNING
Danger to life and limb resulting from external forces
The external application of force, such as an impact or a collision,
can cause non-visible damage. For example, it can lead to a gradu-
al loss of drive power from the motor, resulting in unintended move-
ments of the manipulator.
Death, severe injuries or damage to property may result from non-
visible damage.
‒ Check the robot for damage that could have been caused by ex-
ternal forces, e.g. dents or abrasion of paintwork.
Check the motor and counterbalancing system particularly care-
fully.
(Motor inspection not relevant for robots with internal motors.)
‒ In the case of damage, the affected components must be ex-
changed.
• There are no foreign bodies or defective or loose parts on the industri-

al robot.
• All required safety equipment is correctly installed and operational.
• The power supply ratings of the industrial robot correspond to the
local supply voltage and mains type.
• The ground conductor and the equipotential bonding cable are suffi-
ciently rated and correctly connected.
• The connecting cables are correctly connected and the connectors are
locked.
3.5.4 Manual mode
General
Manual mode is the mode for setup work. Setup work is all the tasks that
have to be carried out on the industrial robot to enable automatic opera-
tion. Setup work includes:
• Jog mode
• Teaching
• Programming
• Program verification
The following must be taken into consideration in manual mode:
• New or modified programs must always be tested first in Manual Re-
duced Velocity mode (T1).
• The manipulator, tooling or external axes (optional) must never touch
or project beyond the safety fence.
• Workpieces, tooling and other objects must not become jammed as a
result of the industrial robot motion, nor must they lead to
short-circuits or be liable to fall off.
• All setup work must be carried out, where possible, from outside the
safeguarded area.

Safety LBR iisy
Setup work in T1
If it can be avoided, there must be no persons inside the safeguarded

area.
If it is necessary to carry out setup work from inside the safeguarded
area, the following must be taken into consideration in the operating mode
Manual Reduced Velocity (T1):
• If it can be avoided, there must be no more than one person inside
the safeguarded area.
• If it is necessary for there to be several persons inside the safeguar-
ded area, the following must be observed:
‒ Each person must have an enabling device.
‒ All persons must have an unimpeded view of the industrial robot.
‒ Eye-contact between all persons must be possible at all times.
• The operator must be so positioned that he can see into the danger
zone and get out of harm’s way.
• Unexpected motions of the manipulator cannot be ruled out, e.g. in
the event of a fault. For this reason, an appropriate clearance must be
maintained between persons and the manipulator, including the tool.
Guide value: 50 cm.
The minimum clearance may vary depending on local circumstances,
the motion program and other factors. The minimum clearance that is
to apply for the specific application must be decided by the user on
the basis of a risk assessment.
Setup work in T2
If it is necessary to carry out setup work from inside the safeguarded

area, the following must be taken into consideration in the operating mode
Manual High Velocity (T2):
• This mode may only be used if the application requires a test at a ve-
locity higher than that possible in T1 mode.
• Teaching and programming are not permissible in this operating mode.
• Before commencing the test, the operator must ensure that the ena-
bling devices are operational.
• The operator must be positioned outside the danger zone.
• There must be no other persons inside the safeguarded area. It is the
responsibility of the operator to ensure this.
3.5.5 Automatic mode
Automatic mode is only permissible in compliance with the following safety

measures:
• All safety equipment and safeguards are present and operational.

• There are no persons in the system or the requirements for collabora-
tive operation in accordance with EN ISO 10218 have been met.
• The defined working procedures are adhered to.
If the manipulator or an external axis (optional) comes to a standstill for
no apparent reason, the danger zone must not be entered until an EMER-
GENCY STOP has been triggered.

LBR iisy
Safety
3.5.6 Maintenance and repair
After maintenance and repair work, checks must be carried out to ensure
the required safety level. The valid national or regional work safety regula-
tions must be observed for this check. The correct functioning of all safety
functions must also be tested.
The purpose of maintenance and repair work is to ensure that the system
is kept operational or, in the event of a fault, to return the system to an
operational state. Repair work includes troubleshooting in addition to the
actual repair itself.
The following safety measures must be carried out when working on the
industrial robot:
• Carry out work outside the danger zone. If work inside the danger
zone is necessary, the user must define additional safety measures to
ensure the safe protection of personnel.
• Switch off the industrial robot and secure it (e.g. with a padlock) to
prevent it from being switched on again. If it is necessary to carry out
work with the robot controller switched on, the user must define addi-
tional safety measures to ensure the safe protection of personnel.
• If it is necessary to carry out work with the robot controller switched
on, this may only be done in operating mode T1.
• Label the system with a sign indicating that work is in progress. This
sign must remain in place, even during temporary interruptions to the
work.
• The EMERGENCY STOP devices must remain active. If safety func-
tions or safeguards are deactivated during maintenance or repair work,
they must be reactivated immediately after the work is completed.
DANGER
Danger to life and limb due to live parts
The robot system must be disconnected from the mains power supply
prior to work on live parts. It is not sufficient to trigger an EMERGENCY
STOP or safety stop, because parts remain live. Death or severe inju-
ries may result.
• Before commencing work on live parts, turn off the main switch and
secure it against being switched on again.
If the controller variant in question does not have a main switch
(e.g. KR C5 micro), turn off the device switch then disconnect the
power cable and secure it so it cannot be reconnected.
• Then check to ensure that the system is deenergized.
• Inform the individuals involved that the robot controller is switched
off. (e.g. by affixing a warning sign)
Faulty components must be replaced using new components with the

same article numbers or equivalent components approved by the manu-
facturer for this purpose.
Cleaning and preventive maintenance work is to be carried out in accord-
ance with the operating instructions.
Robot controller
Even when the robot controller is switched off, parts connected to periph-
eral devices may still carry voltage. The external power sources must
therefore be switched off if work is to be carried out on the robot control-
ler.
The ESD regulations must be adhered to when working on components in
the robot controller.

LBR iisy
Voltages in excess of 50 V (up to 780 V) can be present in various com-

Safety
ponents for several minutes after the robot controller has been switched
off! To prevent life-threatening injuries, no work may be carried out on the
industrial robot in this time.
On robot controllers with transformers, the transformers must be discon-
nected before working on components in the robot controller.
Water and dust must be prevented from entering the robot controller.
Counterbalancing system
Some robot variants are equipped with a hydropneumatic, spring or gas

cylinder counterbalancing system.
• Counterbalancing system classified below category I: Is subject to
the Pressure Equipment Directive but exempt from application of the
Pressure Equipment Directive according to Art. 4, para. 3 and there-
fore not CE marked.
• Counterbalancing system classified as category I or higher: Is
subject to the Pressure Equipment Directive and CE marked as a
component (see rating plate of the counterbalancing system). The
pressure equipment is placed on the market in conjunction with partly
completed machinery. Conformity is expressed on the declaration of
incorporation according to the Machinery Directive.
The user must comply with the applicable national laws, regulations and
standards pertaining to pressure equipment.
• In Germany, the counterbalancing system is work equipment according
to the German Ordinance on Industrial Safety and Health (BetrSichV).
Inspection intervals in Germany in accordance with the Ordinance on
Industrial Safety and Health, Sections 14 and 15. Inspection by the
user before commissioning at the installation site.
• Inspection intervals in all other countries must be researched and ob-
served. As a rule, however, at least the maintenance intervals speci-
fied by KUKA must be observed. These must not be exceeded.
The following safety measures must be carried out when working on the
counterbalancing system:
• The assemblies supported by the counterbalancing systems must be
secured.
• Work on the counterbalancing systems must only be carried out by
qualified personnel.
Hazardous substances
The following safety measures must be carried out when handling hazard-
ous substances:
• Avoid prolonged and repeated intensive contact with the skin.
• Avoid breathing in oil spray or vapors.
• Clean skin and apply skin cream.
Use current safety data sheets

Knowledge of the safety data sheets of the substances and mixtures
used is a prerequisite for the safe use of KUKA products. Death,
injuries or damage to property may otherwise result.
• Request up-to-date safety data sheets from the manufacturers of
hazardous substances regularly.

LBR iisy
Safety
3.5.7 Decommissioning, storage and disposal
The industrial robot must be decommissioned, stored and disposed of in

accordance with the applicable national laws, regulations and standards.

Safety LBR iisy

LBR iisy
Technical data
4 Technical data
4.1 Basic data overview
Basic data
Maximum pay-
Kinematic type Number of axes Rated payload
load
LBR iisy 11
11 kg 11.72 kg
R1300
Articulated robot 6
LBR iisy 15
15 kg 16.41 kg
R930
Volume of
Pose repeatabil-
Maximum reach working enve- Controller
ity (ISO 9283)
lope
LBR iisy 11
1300 mm 5.72 m³
R1300
- KR C5 micro
LBR iisy 15
930 mm 1.73 m³
R930
Protection rat-
Protection rat-
Weight ing, robot wrist Sound level
ing (IEC 60529)
(IEC 60529)
LBR iisy 11
approx. 46.3 kg
R1300
- - < 75 dB (A)
LBR iisy 15
approx. 43.2 kg
R930
Hole pattern:
Permissible an-
Mounting posi- mounting sur-
Footprint gle of inclina-
tion face for kine-
tion
matic system
LBR iisy 11 Floor;
R1300 Ceiling; 275 mm x 275
C246 -
LBR iisy 15 Wall; mm
R930 Desired angle
Ambient conditions
Humidity class (EN 60204) EN 60204/4.4.3

Classification of environmental -
conditions (EN 60721-3-3)
Ambient temperature
During operation 0 °C to 45 °C (273 K to 318 K)
During storage/transportation -25 °C to 70 °C (248 K to 343 K)
In the case of an unfavorable combination of permanently high demand
on robot power and external temperature influences, parts of the surface
of the robot are liable to heat up excessively. The robot must have cooled
down before it can be touched.
The LBR is protected by temperature monitoring which switches it off if
the thermal limit values are exceeded. Following a cooling time, the LBR

LBR iisy
can be restarted with no need for additional measures. Technical Support

Technical data
is available to answer any questions.
Connecting cables, KR C5 micro
Cable designation Connector designation Interface

Robot controller - robot Robot
Motor cable XD30 Motor connector 1: Han-Yellock® 30
XD20.1 - XD30
Connection A1-A3 incl.
brakes
Motor connector 2:
XD20.2 - XD30
Connection A4-A6 incl.
brakes
Data cable XF31 XF21 - XF31 Han® Q12
Ground conductor / equipo- Ring cable lug, M4
tential bonding
4 mm2
Cable lengths 1 m, 4 m, 7 m, 15 m, 25 m
Max. cable length 25 m
Number of extensions 1
Minimum bending radius 5x D

For detailed specifications of the connecting cables, see “Description of
the connecting cables”.
4.2 Axis data overview
Motion range
A1 A2 A3 A4 A5 A6
LBR iisy 11 R1300
±185 ° -230 ° / 50 ° ±150 ° ±180 ° ±110 ° ±220 °
LBR iisy 15 R930
±185 ° -230 ° / 50 ° ±150 ° ±180 ° ±110 ° ±220 °
Speed with rated payload

A1 A2 A3 A4 A5 A6
LBR iisy 11 R1300
200 °/s 200 °/s 200 °/s 230 °/s 260 °/s 430 °/s
LBR iisy 15 R930
200 °/s 200 °/s 200 °/s 230 °/s 260 °/s 380 °/s
The direction of motion and the arrangement of the individual axes may
be noted from the following diagram.

LBR iisy
Technical data
Fig. 4-1: Direction of rotation of robot axes
Working envelope
The following diagrams show the shape and size of the working envelope
for these variants of this product family.
The reference point for the working envelope is the intersection of axes 4
and 5.

Technical data LBR iisy
Working envelope, LBR iisy 11 R1300
Fig. 4-2: LBR iisy 11 R1300, working envelope, overall

LBR iisy
Technical data
Working envelope, LBR iisy 15 R930
Fig. 4-3: LBR iisy 15 R930, working envelope, overall
Inclined installation
The robot can be installed in any position from 0° (floor) to 180° (ceiling).
The following figure shows the possible limitation of the motion range of
axis 1, as a function of the angle of inclination of the robot.
The inclination angles for the robot must be entered correctly into the con-
troller if the robot is not operated in the floor-mounted position. The
angles can be configured via the system software.
Inclination angles with unchanged main working direction of the robot:
Floor: A:0°, B:0°, C:0°
Wall: A:0°, B:90°, C:0°
Ceiling: A:0°, B:0°, C:180°

CAUTION
The inclined installation angles must be individually checked and en-
tered. An incorrectly entered inclined installation angle can lead to un-
foreseen motion and/or to an overload and, potentially, damage to the
robot.
Fig. 4-4: Motion range of axis 1 with inclined installation
4.3 Payloads overview
Payloads
Rated payload Maximum payload Rated total load

LBR iisy 11 R1300 11 kg 11.72 kg 11 kg
LBR iisy 15 R930 15 kg 16.41 kg 15 kg
Rated supplementary loads
Rotating col-
Base frame Link arm Arm
umn
LBR iisy 11
R1300
0 kg 0 kg 0 kg 0 kg
LBR iisy 15
R930

LBR iisy
Technical data
Maximum supplementary loads
Rotating col-
Base frame Link arm Arm
umn
LBR iisy 11
R1300
0 kg 0 kg 0 kg 0 kg
LBR iisy 15
R930
Load center of gravity and mass moment of inertia
Fig. 4-5: Load center of gravity and mass moment of inertia
Parameter
Parameter/unit Description
Mass kg Payload mass
Lx, Ly, Lz mm Position of the center of mass in the reference
system
A, B, C Degrees Orientation of the principal inertia axes
• A: Rotation about the Z axis of the refer-

ence system
The result is a coordinate system named
CS'.
• B: Rotation about the Y axis of CS'
Result: CS''
• C: Rotation about the X axis of CS''
Note: A, B and C are not shown in the dia-
gram.
Mass moments of inertia:

Ix kgm2 Inertia about the X axis of the main axis sys-
tem
Iy kgm2 Inertia about the Y axis of the main axis sys-
tem
Iz kgm2 Inertia about the Z axis of the main axis sys-
tem
Lx, Ly, Lz and A, B, C unambiguously define the main axis system:
• The origin of the main axis system is the center of mass.

• A characteristic feature of the main axis system is that, among other

things, the maximum possible inertia occurs about one of the 3 coordi-
nate axes.
Further information is contained in the KUKA Load documentation.
Payload diagram, LBR iisy 11 R1300
Fig. 4-6: LBR iisy 11 R1300, payload diagram

LBR iisy
Technical data
Payload diagram, LBR iisy 15 R930
Fig. 4-7: LBR iisy 15 R930, payload diagram
NOTICE
This loading curve corresponds to the maximum load capacity. Both val-
ues (payload and mass moment of inertia) must be checked in all ca-
ses. Exceeding this capacity will reduce the service life of the robot and
overload the motors and the gears; in any such case KUKA Service
must be consulted beforehand.
The values determined here are necessary for planning the robot appli-
cation. For commissioning the robot, additional input data are required
in accordance with the operating and programming instructions of the
System Software.
The mass inertia must be verified using KUKA Load. It is imperative for
the load data to be entered in the robot controller!
The manipulator is designed for its respective rated payload in order to

optimize the dynamic performance of the robot. With reduced load center
distances and favorable supplementary loads, the maximum payload can
be mounted. The specific load case must be verified using KUKA Load.
For further consultation, please contact KUKA Service.
Mechanical interface on the Commander
Designation Robot wrist type Mounting flange standard

LBR iisy 11 R1300 ZH ISO 9409-1-50-7-M6
Diameter (hole circle) 88 mm

Thread diameter M3
Depth of engagement min. 5.5 mm, max. 6 mm

Number of threads 8
Screw grade 12.9
Locating element 3H7
The mounting flange is depicted with axis 6 in the zero position.
Fig. 4-8: Mechanical interface on the Commander
Flange loads
Due to the motion of the payload (e.g. tool) mounted on the robot, forces
and torques act on the mounting flange. These forces and torques depend
on the motion profile as well as the mass, load center of gravity and mass
moment of inertia of the payload.
The specified values refer to nominal payloads and do not include any
safety factors. It is imperative for the load data to be entered in the robot
controller. For this, the output flange (optional) must be taken into consid-
eration as part of the load. The interface between the load and the robot
is the mechanical interface on the Commander.
The robot controller takes the payload into consideration during path plan-
ning. A reduced payload does not necessarily result in lower forces and
torques.
The values are guide values determined by means of trial and simulation
and refer to the most heavily loaded machine in the robot family. The ac-
tual forces and torques may differ due to internal and external influences
on the mounting flange or a different point of application. It is therefore
advisable to determine the exact forces and torques where necessary on
site under the real conditions of the actual robot application.
The operating values may occur permanently in the normal motion profile.
It is advisable to rate the tool for its fatigue strength.
The EMERGENCY STOP values may arise in the event of an Emergency
Stop situation of the robot. As these should only occur very rarely during
the service life of the robot, a static strength verification is usually suffi-
cient.

LBR iisy
Technical data
Fig. 4-9: Flange loads
Axial force F(a), radial force F(r)
Flange loads in the case of EMERGENCY

Flange loads during operation
STOP
F(a) F(r) F(a) F(r)
LBR iisy 11 R1300
310 N 300 N 380 N 490 N
LBR iisy 15 R930
370 N 320 N 470 N 620 N
Tilting torque M(k), torque about mounting flange M(g)
Flange loads in the case of EMERGENCY

Flange loads during operation
STOP
M(k) M(g) M(k) M(g)
LBR iisy 11 R1300
25 Nm 15 Nm 40 Nm 30 Nm
LBR iisy 15 R930
30 Nm 15 Nm 50 Nm 35 Nm
Supplementary load
No supplementary loads may be mounted on the robot.
4.4 Foundation loads overview
Depending on the payload (e.g. tool), supplementary load and the robot’s
own mass (weight), the motion of the robot generates forces and torques
which are transmitted to the foundation.
The specified values refer to nominal payloads and do not include any
safety factors. The actual forces and torques depend on the motion profile
as well as the mass, load center of gravity and mass moment of inertia of
the payload. It is imperative for the load data to be entered in the robot
controller. The robot controller takes the payload into consideration during
path planning.
Supplementary loads on A1 (rotating column) and A2 (link arm) are not
taken into consideration in the calculation of the foundation load. These
must be taken into account in the vertical force (Fv).
The foundation must be able to permanently withstand the forces and tor-
ques generated during normal operation.

LBR iisy
The EMERGENCY STOP values only rarely occur during the service life
Technical data
of the robot (emergency situations). The frequency depends on the config-

uration of the system.
WARNING
Danger to life and limb due to insufficient stability of the founda-
tion.
An incorrectly dimensioned foundation can fracture and fail. Death, se-
vere injuries or damage to property may result.
• Calculate the foundation loads for each individual case.
• Use the specified installation equipment.
Fig. 4-10: Foundation loads
Vertical force F(v)
Foundation loads for floor Foundation loads for Foundation loads for wall
mounting position ceiling mounting position mounting position
F(v normal) F(v max) F(v normal) F(v max) F(v normal) F(v max)
LBR iisy 11 R1300
800 N 1020 N 860 N 1080 N 990 N 1360 N
LBR iisy 15 R930
940 N 1100 N 870 N 1080 N 960 N 1360 N

LBR iisy
Technical data
Horizontal force F(h)
F(h normal) F(h max) F(h normal) F(h max) F(h normal) F(h max)
LBR iisy 11 R1300
560 N 870 N 560 N 900 N 420 N 610 N
LBR iisy 15 R930
480 N 810 N 520 N 850 N 390 N 670 N
Tilting torque M(k)
M(k normal) M(k max) M(k normal) M(k max) M(k normal) M(k max)
LBR iisy 11 R1300
520 Nm 1020 Nm 584 Nm 1160 Nm 750 Nm 1160 Nm
LBR iisy 15 R930
580 Nm 860 Nm 400 Nm 910 Nm 610 Nm 960 Nm
Torque M(r)
M(r normal) M(r max) M(r normal) M(r max) M(r normal) M(r max)
LBR iisy 11 R1300
410 Nm 550 Nm 410 Nm 550 Nm 390 Nm 630 Nm
LBR iisy 15 R930
340 Nm 490 Nm 370 Nm 490 Nm 360 Nm 580 Nm
4.5 LBR iisy plates and labels
Plates and labels
The following plates and labels are attached to the robot. They must not
be removed or rendered illegible. Illegible plates and labels must be re-
placed.
Fig. 4-11: Plates and labels

Item Description
1
Identification plate example

Content according to Machinery Directive.
The QR code contains a link to product information in KUKA
Xpert.
2
Transport position
Before loosening the bolts of the mounting base, the robot must
be in the transport position as indicated in the table. Risk of
toppling!
3
High voltage
Any improper handling can lead to contact with current-carrying
components. Electric shock hazard!
4
Work on the robot

Before start-up, transportation or maintenance, read and follow
the assembly and operating instructions.

LBR iisy
Technical data
Item Description
5
Danger zone
Entering the danger zone of the robot is prohibited if the robot
is in operation or ready for operation. Risk of injury!
4.6 REACH duty to communicate information acc. to Art. 33
As of June 2007, the Regulation (EC) 1907/2006 of the European Parlia-

ment and of the Council dated 18 December 2006 on the registration,
evaluation and authorization of chemicals (REACH Regulation) is in force.
Detailed REACH information can be found in the product information in
KUKA Xpert.
4.7 Stopping distances and times
4.7.1 General information
Information concerning the data:
• The data are given for the main axes A1, A2 and A3. The main axes
are the axes with the greatest deflection.
• Superposed axis motions can result in longer stopping distances.
• Stopping distances and stopping times in accordance with DIN EN
ISO 10218-1, Annex B.
• Stop categories:
‒ Stop category 0 » STOP 0
‒ Stop category 1 » STOP 1
according to IEC 60204-1
• The values specified for Stop 0 are guide values determined by
means of tests and simulation. They are average values which con-
form to the requirements of DIN EN ISO 10218-1. The actual stopping
distances and stopping times may differ due to internal and external
influences on the braking torque. It is therefore advisable to determine
the exact stopping distances and stopping times where necessary un-
der the real conditions of the actual robot application.
• Measurement method
The stopping distances were measured using the robot-internal meas-
urement method.
• The wear on the brakes varies depending on the operating mode, ro-
bot application and the number of STOP 0 stops triggered. It is there-
fore advisable to check the stopping distance at least once a year.

Measurement method for determining the STOP 0 stopping distances and stopping
times according to ISO 10218-1 with KR C5
System configuration
• Measurement with single-axis motion (A1, A2 and A3 respectively)

• Weight with maximum payload on the flange (no supplementary loads
on the robot)
Motion sequence
• Axes that are not moved are positioned in such a way that the maxi-
mum distance of the load center of gravity from the moved axis is
reached.
• Use the maximum motion radius of the axis to achieve as high a ve-
locity as possible.
• Trigger point at maximum velocity
Measurement method
1. A safe operational stop is activated at the trigger point; this causes a

STOP 0 to be triggered if the robot is moving.
Start recording with trace functionality.
2. Brakes are closed.
Brake closes (WDI motor status bit 2) is used as the start time of the
measurement.
3. The axis comes to a standstill.
Standstill is used as the end time of the measurement.
As an approximation, it is also possible to carry out the measurement by
means of a STOPMESS interrupt program in which the stopping distance
results from the difference between the position at the trigger point ($AX-
IS_INT) and the position at standstill.
Information concerning the data
• The stopping distance is the angle covered by the axis from the
Brake closes signal (WDI motor status bit 2) to complete standstill.
• The stopping time is the time that elapses from the Brake closes sig-
nal (WDI motor status bit 2) until the robot comes to a complete
standstill.
4.7.2 Stopping distances and times, LBR iisy 11 R1300
4.7.2.1 Stopping distances and stopping times, STOP 0, A1 to A3
The table shows the stopping distances and stopping times after a
STOP 0 (category 0 stop) is triggered. The values refer to the following
configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = maximum load (rated load + supplementary load on arm)
Stopping distance
A1 11.56 °
A2 9.60 °
A3 6.44 °

LBR iisy
Technical data
Stopping time
A1 0.38 s
A2 0.15 s
A3 0.10 s

LBR iisy
4.7.2.2 Stopping distances and stopping times, STOP 1, A1

Technical data
Fig. 4-12: Stopping distances for STOP 1, axis 1, KR C5 micro

LBR iisy
Technical data
Fig. 4-13: Stopping times for STOP 1, axis 1, KR C5 micro

LBR iisy

Technical data

LBR iisy
Technical data

LBR iisy

Technical data

LBR iisy
Technical data

4.7.3 Stopping distances and times, LBR iisy 15 R930
4.7.3.1 Stopping distances and stopping times, STOP 0, A1 to A3
The table shows the stopping distances and stopping times after a
STOP 0 (category 0 stop) is triggered. The values refer to the following
configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = maximum load (rated load + supplementary load on arm)
Stopping distance
A1 9.98 °
A2 8.67 °
A3 6.96 °
Stopping time
A1 0.10 s
A2 0.11 s
A3 0.09 s

LBR iisy
Technical data


LBR iisy
Technical data


LBR iisy
Technical data


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Planning
5 Planning
5.1 Information for planning
In the planning and design phase, care must be taken regarding the func-
tions or applications to be executed by the kinematic system. The follow-
ing conditions can lead to premature wear. They necessitate shorter main-
tenance intervals and/or earlier exchange of components. In addition, the
permissible operating parameters specified in the technical data must be
taken into account and observed during planning.
• Continuous operation near temperature limits
• Continuous operation in abrasive environments
• Continuous operation close to the performance limits, e.g. high rpm of
an axis
• High duty cycle of individual axes
• Monotonous motion profiles, e.g. short, frequently recurring axis mo-
tions
• Static axis positions, e.g. continuous vertical position of a wrist axis
• External forces (process forces) acting on the robot
If one or more of these conditions arise during operation of the kinematic
system, KUKA Deutschland GmbH must be consulted.
If the robot reaches its corresponding operation limit or if it is operated
near the limit for a period of time, the built-in monitoring functions come
into effect and the robot is automatically switched off.
This protective function can limit the availability of the robot system.
CAUTION
Risk of injury and damage to property due to conductive dirt or
condensation
If the manipulator is operated in an environment with conductive dirt or
condensation, this can lead to uncontrolled electrical connections inside
the manipulator. Injuries or damage to property may result.
• The manipulator may only be operated in environments without con-
ductive dirt.
• Avoid humidity and condensation.
CAUTION
Risk of injury and damage to property due to operation in non-ap-
proved environment
If the manipulator is operated in an environment with a higher degree of
fouling and possibly with formation of condensation, this can lead to un-
controlled electrical connections inside the manipulator. These ambient
conditions correspond to degree of fouling 3 or 4.
Non-compliance can result in injury or damage to property.
• It must be ensured that the installation site is protected against con-
ductive fouling and condensation.
5.2 Mounting base (optional)
Description
Designation Article number Weight

Mounting base C246 0000-311-958 approx. 16.5 kg

LBR iisy
The mounting base with centering is used when the kinematic system is
Planning
fastened to the floor, i.e. directly on a concrete foundation.

The mounting base with centering consists of:
• Bedplate
• Chemical anchors
• Fastening elements
This mounting variant requires a level and smooth surface on a concrete
foundation with adequate load bearing capacity. The concrete foundation
must be able to accommodate the forces occurring during operation.
There must be no layers of insulation or screed between the bedplate and
the concrete foundation.
The minimum dimensions must be observed.
Fig. 5-1: Mounting base
1 Chemical anchor (4x)

2 M10x35-8.8-A2K hexagon bolt with conical spring washer (4x)
3 Locating pin, flat-sided
4 Locating pin, cylindrical
5 Bedplate
Grade of concrete for foundations
When producing foundations from concrete, observe the load-bearing ca-

pacity of the ground and the country-specific construction regulations.
There must be no layers of insulation or screed between the bedplate/
bedplates and the concrete foundation. The quality of the concrete must
meet the requirements of the following standard:
• C20/25 according to EN 206
WARNING
Danger to life and limb due to incorrect mounting
If not mounted correctly, the kinematic system may topple over or fall
down. Death, severe injury or damage to property may result.
• Only install the kinematic system using the mounting base or ma-
chine frame mounting.
• The stability must be ensured by the integrator or start-up techni-
cian.

LBR iisy
Planning
Dimensioned drawing
The following illustration (>>> Fig. 5-2) provides all the necessary informa-
tion on the mounting base, together with the required foundation data. The
specified foundation dimensions refer to the safe transmission of the foun-
dation loads into the foundation and not to the stability of the foundation.
Fig. 5-2: Mounting base, dimensioned drawing

To ensure that the anchor forces are safely transmitted to the foundation,
observe the dimensions for concrete foundations specified in the following
illustration.
NOTICE
The dimensions specified for the distance to the edge are valid for non-
reinforced or normally reinforced concrete without verification of
concrete edge failure. For safety against concrete edge failure in ac-
cordance with ETAG 001 Annex C, the concrete foundation must be
provided with an appropriate edge reinforcement.

Planning LBR iisy
Fig. 5-3: Foundation cross-section

2 Bedplate
3 Concrete foundation
5.3 Machine frame mounting (optional)
Description
Designation Article number Weight

Machine frame mounting (stand- approx. 0.161
0000-204-468
ard) kg
Description
The machine frame mounting assembly is used when the robot is fas-
tened on a steel structure, a booster frame (pedestal) or a KUKA linear
unit. This assembly is also used if the robot is installed on the ceiling. It
must be ensured that the substructure is able to withstand safely the
forces occurring during operation (foundation loads). The following dia-
gram contains all the necessary information that must be observed when
preparing the mounting surface (>>> Fig. 5-4).
The machine frame mounting assembly consists of:
• Locating pins
• Hexagon bolts with conical spring washers
The substructure used by the customer must be designed in such a way
that the forces generated (mounting base load, maximum load
(>>> 4 "Technical data" Page 31)) are safely transmitted via the screw
connection and the necessary stiffness is ensured. The specified surface
values and tightening torques must be observed.
NOTICE
The material of the substructure must be selected so that the stripping
safety is ensured (e.g. S355J2G3).

LBR iisy
Planning
WARNING
Danger to life and limb due to incorrect mounting
If not mounted correctly, the kinematic system may topple over or fall
down. Death, severe injury or damage to property may result.
• Only install the kinematic system using the mounting base or ma-
chine frame mounting.
• The stability must be ensured by the integrator or start-up techni-
cian.
Fig. 5-4: Machine frame mounting

Dimensioned drawing
The following illustration (>>> Fig. 5-5) provides all the necessary informa-
tion on machine frame mounting, together with the required foundation da-
ta.

Planning LBR iisy
Fig. 5-5: Machine frame mounting, dimensioned drawing

3 Mounting surface
5 Steel structure
5.4 Connecting cables and interfaces
Connecting cables
The connecting cables comprise all the cables for transferring energy and
signals between the robot and the robot controller. They are connected on
the robot side with connectors at interface A1. Connection to the controller
is always the same, irrespective of the controller variant.

LBR iisy
Cable lengths of 1 m, 4 m, 7 m, 15 m and 25 m are available as stand-
Planning
ard. The maximum length of the connecting cables must not exceed
25 m. The connecting cables may be extended a maximum of 1 time, i.e.
a maximum of 2 connecting cables may be combined with each other.
Thus if the robot is operated on a linear unit which has its own energy
supply chain, this cable must also be taken into account.
For the connecting cables, an additional ground conductor is always re-
quired to provide a low-resistance connection between the robot and the
control cabinet in accordance with DIN EN 60204. The ground conductor
is connected via ring cable lugs. The threaded bolts for connecting the
two ground conductors are located on the base frame of the robot.
The following points must be observed when planning and routing the
connecting cables:
• The bending radius for fixed routing must not be less than 50 mm for
motor cables and 30 mm for control cables.
• Protect cables against exposure to mechanical stress.
• Route the cables without mechanical stress – no tensile forces on the
connectors
• Cables are only to be installed indoors.
• Observe the permissible temperature range (fixed installation) of
263 K (-10 °C) to 318 K (+45 °C).
• Route the motor cables and the data cables separately in metal ducts;
if necessary, additional measures must be taken to ensure electromag-
netic compatibility (EMC).
CAUTION
Risk of injury due to tripping hazards
Improper installation of cables can cause tripping hazards. Injuries or
damage to property may result.
• The connecting cables must be installed in such a way (e.g. cable
ducts) as to prevent tripping hazards.
• Potential tripping hazards must be marked accordingly.
Interface A1
Interface A1 is located at the rear of the base frame. The connections for
the motor and data cables are shown in the following illustration.

Planning LBR iisy
Fig. 5-6: Interface A1
1 Motor cable X30 to connection XD30

2 Data cable X31 to connection XF31
Interfaces for energy supply system A1
The cable set contains an integrated energy supply system. The connec-
tions of the energy supply system are located at interface plate A1 and in
the Commander (A6).
Fig. 5-7: Customer interface A1, CTR GIG
1 Connection XF74
XF74 1Gbit data cable, M12 connector, X-coded
2 Connection XG76
XG76 I/O cable, M12 connector, 8-pole
3 Connection XD70
XD70 internal power supply, M8 connector, 4-pole

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Planning
Interface for energy supply system A6
The interface for energy supply system A6 is located under the cover in
the Commander. The connector bypack (optional) can be used for contact-
ing.
The interface for energy supply system A6 is supplied with power by inter-
face A1.
Fig. 5-8: Interface for energy supply system A6, CTR GIG
1 Commander
2 Cover
3 Connection XG96, power supply, digital inputs and outputs, 8-pole
8 individual wires, e.g. for digital inputs and outputs and power sup-
ply
4 Connection XF94, GigaBit interface (CAT5e), 8-pole
For detailed specifications of the cables of the energy supply system,
see .

Planning LBR iisy

LBR iisy
Appendix
6 Appendix
6.1 Applied standards and regulations
Name/Edition Definition
2006/42/EC Machinery Directive:

Directive 2006/42/EC of the European Parliament and of the Coun-
cil of 17 May 2006 on machinery, and amending Directive 95/16/EC
(recast)
2014/30/EU EMC Directive:

Directive 2014/30/EU of the European Parliament and of the Coun-
cil dated 26 February 2014 on the approximation of the laws of the
Member States concerning electromagnetic compatibility
ANSI/RIA R15.06-2012 Industrial Robots and Robot System
CAN/CSA-C22.2 No. Industrial Control Equipment

14-13
CAN/CSA-Z434-14 Industrial Robots and Robot Systems:

General Safety Requirements
EN 55011:2016 + Industrial, scientific and medical equipment:

A1:2017
Radio disturbance characteristics – Limits and methods of measure-
ment
EN 60204-1:2018 Safety of machinery:

Electrical equipment of machines – Part 1: General requirements
EN 61000-6-2:2005 Electromagnetic compatibility (EMC):

Part 6-2: Generic standards; Immunity for industrial environments
EN 61000-6-3:2007 + Electromagnetic compatibility (EMC)

A1:2011
Part 6-3: Generic standards – Emission standard for residential,
commercial and light-industrial environments
EN 61000-6-4:2007 + Electromagnetic compatibility (EMC):

A1:2011
Part 6-4: Generic standards; Emission standard for industrial envi-
ronments
EN IEC 61000-6-2:2019 Electromagnetic compatibility (EMC):

Part 6-2: Generic standards – Immunity for industrial environments
EN ISO 10218-1:2011 Robots and robotic devices – Safety requirements for industri-
al robots:
Part 1: Robots
Note: Content equivalent to ANSI/RIA R15.06-2012, Part 1
EN ISO 12100:2010 Safety of machinery:

General principles of design, risk assessment and risk reduction

Appendix LBR iisy
EN ISO 13849-1:2015 Safety of machinery:

Safety-related parts of control systems - Part 1: General principles
of design
EN ISO 13849-2:2012 Safety of machinery:

Safety-related parts of control systems - Part 2: Validation
EN ISO 13850:2015 Safety of machinery:

Emergency stop - Principles for design
NFPA 79:2018 Electrical Standard for Industrial Machinery
UL 1740:2018 Robots and Robotic Equipment
UL 1998:2013 Standard for Safety:

Software in Programmable Components
UL 61010-1:2012 Safety Requirements for Electrical Equipment for

Measurement, Control, and Laboratory Use
Part 1: General Requirements
UL 61010-2-201:2018 Safety requirements for electrical equipment for measurement,

control, and laboratory use
Part 2-201: Particular requirements for control equipment

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KUKA Service
7 KUKA Service
7.1 Requesting support
Introduction
This documentation provides information on operation and operator con-

trol, and provides assistance with troubleshooting. For further assistance,
please contact your local KUKA subsidiary.
Information
The following information is required for processing a support re-

quest:
• Description of the problem, including information about the duration
and frequency of the fault
• The greatest possible amount of information about the hardware and
software components of the overall system
The following list gives an indication of the information which is rele-
vant in many cases:
‒ Model and serial number of the kinematic system, e.g. the manip-
ulator
‒ Model and serial number of the controller
‒ Model and serial number of the energy supply system
‒ Designation and version of the system software
‒ Designations and versions of other software components or modifi-
cations
‒ System Software diagnosis package
Additionally for KUKA Sunrise: Existing projects including applica-
tions
For versions of KUKA System Software older than V8: Archive of
the software (Diagnosis package is not yet available here.)
‒ Application used
‒ External axes used
7.2 KUKA Customer Support
The contact details of the local subsidiaries can be found at:

www.kuka.com/customer-service-contacts

KUKA Service LBR iisy

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Index EN 61000-6-2:2005........................................ 71
EN 61000-6-3:2007 + A1:2011...................... 71
2006/42/EC..................................................... 71
EN 61000-6-4:2007 + A1:2011...................... 71
2014/30/EU..................................................... 71
EN IEC 61000-6-2:2019.................................71
95/16/EC......................................................... 71
EN ISO 10218-1:2011.................................... 71
EN ISO 12100:2010....................................... 71
EN ISO 13849-1:2015....................................72
A EN ISO 13849-2:2012....................................72
Accessories................................................ 9, 15 EN ISO 13850:2015....................................... 72
ANSI/RIA R15.06-2012.................................. 71 External axes..................................................15
Appendix......................................................... 71 External axis................................................... 18
Arm................................................................... 9
Automatic mode..............................................26
Axis limitation, mechanical............................. 20
Axis range.................................................. 6, 16
F
Faults.............................................................. 23
Flange loads................................................... 40
Foundation loads............................................ 41
B Function test................................................... 24
Base frame..................................................... 10
Brake defect................................................... 22
Brake release device......................................21
Braking distance............................................. 16
G
General safety measures............................... 21
C H
CAN/CSA-C22.2 No. 14-13............................71
Hand-held control panel................................... 9
CAN/CSA-Z434-14......................................... 71
Hazardous substances................................... 28
CE mark..........................................................16
Center of mass ............................................. 37
Cleaning work.................................................27
Commander with ISO flange........................... 9 I
Connecting cables............................... 9, 15, 66 Industrial robot................................................15
Connecting cables, KR C5 micro.................. 32 Industrial Robots and Robot System.............71
Counterbalancing system............................... 28 Information for planning................................. 61
Intended use...................................................12
Interface A1.................................................... 67
D Interface, energy supply system A1.............. 68
Interface, energy supply system A6.............. 69
Danger zone...............................................6, 17
Interfaces........................................................ 66
Declaration of conformity............................... 16
Introduction....................................................... 5
Declaration of incorporation.....................15, 16
Decommissioning............................................29
Description, manipulator...................................9
Diagnosis package......................................... 73 K
Directives........................................................ 71 KCP.......................................................... 17, 22
Disclaimer....................................................... 15 Keyboard, external......................................... 23
Disposal.......................................................... 29 KR C................................................................. 6
Documentation, industrial robot....................... 5 KUKA Customer Support............................... 73
KUKA Service.................................................73
KUKA smartPAD........................................ 6, 17
E KUKA smartPAD-2......................................... 17
KUKA smartPAD pro........................................ 6
EC declaration of conformity......................... 16
EDS...................................................................6
Electrical installations..................................... 10
Electrical Standard for Industrial Machinery..72 L
Electromagnetic compatibility (EMC)............. 71 Labeling.......................................................... 21
Electromagnetic compatibility (EMC):............ 71 LBR................................................................... 6
EMC Directive.......................................... 16, 71 Linear unit.......................................................15
EMD.................................................................. 6 Link arm............................................................9
EN 55011:2016 + A1:2017............................ 71 Low Voltage Directive.....................................16
EN 60204-1:2018........................................... 71

LBR iisy
M Safety of machinery.................................71, 72
Machine frame mounting (optional)............... 64 Safety options.................................................17
Machinery Directive..................................16, 71 Safety Requirements for Electrical Equipment
Main axes....................................................... 45 for Measurement, Control, and Laboratory
Maintenance................................................... 27 Use................................................................. 72
Manipulator......................................6, 9, 15, 17 Safety zone.............................................. 17, 19
Manual mode..................................................25 Safety, general................................................15
Mass............................................................... 37 Service life...................................................... 17
Mass moments of inertia............................... 37 smartPAD............................................. 7, 17, 22
Maximum supplementary loads..................... 37 Software..................................................... 9, 15
Mechanical end stops.................................... 20 Standards........................................................71
MEMD............................................................... 6 Start-up........................................................... 24
Minimum bending radius................................ 32 STOP 0................................................ 7, 17, 45
Misuse.............................................................12 STOP 1................................................ 7, 17, 45
Mounting base (optional)................................61 STOP 2...................................................... 7, 18
Mounting base with centering........................62 Stop category 0......................................... 7, 17
Mouse, external.............................................. 23 Stop category 1......................................... 7, 17
Stop category 2......................................... 7, 18
Stop category 1, Drive Ramp Stop...........7, 18
STOP 1 - DRS...........................................7, 18
N Stopping distance........................................... 16
NFPA 79......................................................... 72 Stopping distances............................ 45, 46, 54
Stopping times...................................45, 46, 54
Storage........................................................... 29
O Supplementary load........................................41
Operators........................................................ 19 Support request.............................................. 73
Options....................................................... 9, 15 System integrator.............................. 16, 18, 19
Overload......................................................... 22
Overview of robot system................................ 9
T
T1 (operating mode).................................. 7, 18
P T2 (operating mode).................................. 7, 18
Payloads......................................................... 36 Teach pendant................................................ 15
Personal protective equipment...................... 18 Technical data.................................................31
Personnel........................................................18 Terms used....................................................... 6
Planning.......................................................... 61 Terms, safety.................................................. 16
Plant integrator............................................... 18 TPC...................................................................7
Positioner........................................................ 15 Training............................................................. 5
PPE.................................................................18 Transportation................................................. 23
Pressure Equipment Directive........................28 Turn-tilt table...................................................15
Preventive maintenance work........................ 27
Principal components....................................... 9
Product description...........................................9 U
Protective equipment, overview..................... 19 UL 61010-1:2012............................................72
UL 61010-2-201:2018.....................................72
UL 1740:2018................................................. 72
R UL 1998:2013................................................. 72
Rated supplementary loads........................... 36 Use
Reaction distance........................................... 16 Intended..................................................... 12
Recommissioning............................................24 User.......................................................... 16, 18
Regulations..................................................... 71 Users.................................................................5
Release device............................................... 20
Repair............................................................. 27
Robot controller..........................................9, 15 W
Rotating column................................................9 Warnings........................................................... 5
Workspace........................................... 6, 16, 19
Wrist..................................................................9
S
Safety..............................................................15
Safety instructions............................................ 5

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Robots

Publication: Pub Spez LBR iisy (PDF) en

Book structure: Spez LBR iisy V2.1

Version: Spez LBR iisy V1

2/76 | www.kuka.com Spez LBR iisy V1 | Issued: 14.10.2022

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4.7.3.1 Stopping distances and stopping times, STOP 0, A1 to A3............................... 54

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1.1 Target group

This documentation is aimed at users with the following knowledge and

For optimal use of KUKA products, we recommend the training courses

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

• Documentation for the robot arm

1.3 Representation of warnings and notes

These warnings contain references to safety-relevant information or gen-

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This warning draws attention to procedures which serve to prevent or rem-

edy emergencies or malfunctions:

Procedures marked with this warning must be followed exactly.

These notices serve to make your work easier or contain references to

1.4 Terms used

EDS Electronic Data Storage

EMD Electronic Mastering Device

LBR Lightweight robot

KR C KUKA Robot Control

KUKA smartPAD see “smartPAD”

KUKA smartPAD pro see “smartPAD”

Manipulator The robot arm and the associated electrical installations

MEMD Micro Electronic Mastering Device

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T1 Test mode, Manual Reduced Velocity (<= 250 mm/s)

T2 Test mode, Manual High Velocity (> 250 mm/s permissible)

TPC Torque Position Converter

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2.1 Overview of the robot system

Fig. 2-1: Overview of robot system

2.2 Description of the manipulator

The manipulators (manipulator = robot arm and electrical installations) of

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Fig. 2-2: Main groups

1 Commander 5 Wrist (main body)

Commander with ISO flange

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The wrist consists of a main body and swivel housing.

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2.3 Intended use and misuse

Any use or application deviating from the intended use is deemed to be

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• This “Safety” chapter refers to a mechanical component of an indus-

The device described in this document is either an industrial robot or a

Information about safety may not be construed against the manufacturer.

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3.1.2 EC declaration of conformity and declaration of incorporation

The industrial robot constitutes partly completed machinery as defined by

The system integrator must issue an EC declaration of conformity for the