kuka各版本随机文档接口与设计用kr_30_45ro_el_02_05_01_en_h

1、ROBOT(V)KR 45, 60; (V)KR 30 L15DescriptionElectricaltallationsRo/El/02/05.01 05.99.04 en1 of 15e Copyright KUKA Roboter GmbHThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in

2、this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precl

3、uded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated ubsequent editions.Subject to technical alterations without an effect on the function.PD InterleafRo/El/0

4、2/05.01 05.99.04 en2 of 15Contents1General .52Description .63Cabling plans and pin allocation diagrams.10Ro/El/02/05.01 05.99.04 en3 of 15DescriptionRo/El/02/05.01 05.99.04 en4 of 151GeneralValid for(V)KR 30 L15/1, /2 (V)KR 45/2(V)KR 60/2 (V)KR 60 L45/2(V)KR 60 L30/21GeneralThe electricaltallations

5、of the robot form a separate assembly, which includes the “cableset” (Fig. 1), containing all electric cables (Fig. 1 to Fig. 3). The cable set has plug-and- socket connections so that exchanges can be quickly carried out. This dispenses with the need for wiring work.The arrangement, designation and

6、 allocation of the cables may be noted from the variousdiagrams. The connectors are provided with identification labels. The ground conductors are fastened with cable lugs to threaded bolts.Ro/El/02/05.01 05.99.04 en5 of 15This description applies analogously to all of the robots listed above, regar

7、dless of the robot variant depicted.Description2Descriptiontalled on the base frame are two junction boxes (Fig. 1/6, 7). The motor cables for axes 1 to 6 are grouped together in junction box X01 (7) and are wired up to a rectangular flange- mounted connector. This connector is at the same time the

8、connector on the robot for the connecting cable (“motor cable”) between the robot and the control cabinet. The connector consists of six separate connector modules. Each connector module is assigned a particular motor connector (e.g. XM1), so that each motor cable can be replaced separately. The gro

9、und conductors are clamped to a ground conductor rail (Fig. 13) in the junction box (Fig. 1/7).The control cables for axes 1 to 6 are grouped together in junction box X02 (6) and are connected to an RDC board. Each control cable has a separate connector and can therefore be exchanged individually. T

10、he interface at the junction box (6) with the connecting cable (“data cable”) between the robot and the control cabinet is formed by a 17-pole right-angle connector.At the back of each of the junction boxes (6, 7) is a Pg gland from which the cables are routed to the base frame and from there via a

11、common flexible tube A 1 (5) to the rotating column. Flexible tube A 1 ensures that the cables are kept free from excessive stress with few pro- truding edges, without impairing the rotational movement of axis 1. The cables for the drive units of axes 1 and 2 branch off in the rotating column.The ca

12、bles for the drive units of axes 3 to 6 run from the rotating column to the arm in flexibletube A 2/A 3 (4) kinking.ide the hollow link arm. The flexible tubes (4, 5) prevent the cables fromThe cablestalled in the robot are summarized in tabular form in Fig. 2 and are shownschematically in Fig. 3.Ro

13、/El/02/05.01 05.99.04 en6 of152Description (continued)12XP6 XP5 XP4 XP3XM6 XM5 XM4XM3384XM2.1XM2XP2 XP1XM1XM1.15X01X028not for KR 45671 Connectors for control cables2 Connectors for motor cables3 Ground conductor4 Flexible tube A 2/A 3 from the rotating column to the arm5 Flexible tube A 1 from the

14、base frame to the rotating column6 Junction box X02 for control cables7 Junction box X01 for motor cables8 Motor cable adapterFig. 1 Cable set assemblyRo/El/02/05.01 05.99.04 en7 of15Fig. 2Table of cablestalledRo/El/02/05.01 05.99.04 en8 of 15CableGround conductor 71-051-855Motor cable A 1 71-051-20

15、8fromBoltbase frameBoltrotating column Connector X30toBoltrotating columnBolt armXM1CableControl cable A 1 71-051-214Control cable A 2 71-051-215Control cable A 3 71-051-216from Connector X1Connector X2 Connector X3to XP1XP2 XP3Motor cable A 2 71-051-209Motor cable A 3 71-051-210Motor cable A 4 71-0

16、51-211Motor cable A 5 71-051-212Motor cable A 6 71-051-213Connector X30 Connector X30 Connector X30 Connector X30 Connector X30XM2 XM3 XM4 XM5 XM6Control cable A 4 71-051-217Control cable A 5 71-051-218Control cable A 6 71-051-219Connecting cable 71-051-853Adjustment cable 71-051-854Motor cable adap

17、ter 71-052-065Connector X4 Connector X5 Connector X6 Connector X9 Connector X10Connector XM1 Connector XM2XP4 XP5 XP6 X31 X32XM1.1 XM2.1Description2Description (continued)XM4XP4NOTE: The exact arrangement of junction boxes X01 and X02 is shown in Fig. 1.XM6XP6XP3 XM3XM5XP5BoardXM2not for KR 45X31 X3

18、2X6 X5 X4 X3 X2 X1XXM1 XM1.1XP1X02Modules a tofX31X32ae fX30X01Fig. 3 Electricaltallations (block diagram)Ro/El/02/05.01 05.99.04 en9 of15bcdX9X102XM2.13Cabling plans and pin allocation diagramsFig. 4 Connector pin allocation X30Fig. 5 Connector pin allocation X31Ro/El/02/05.01 05.99.04 en10 of 15Co

19、nnector X30, Pin no.Assignment1 moduleConnector X31, Pin no.Assignmenta1A1/motor U1not connecteda2not connected2GNDa3brake +324Va4A1/motor V4A1/CLKOa5brake -5A1/CLKOa6A1/motor W6FSib1A2/motor U7/FSib2not connected8Dib3brake +9/Dib4A2/motor V10/FSob5brake -11FSob6A2/motor W12/Doc1A3/motor U13Doc2not

20、connected14/CLKic3brake +15CLKic4A3/motor V16not connectedc5brake -17not connectedc6A3/motor Wd1A4/motor Ud2not connectedd3brake +d4A4/motor Vd5brake -d6A4/motor We1A5/motor Ue2not connectede3brake +e4A5/motor Ve5brake -e6A5/motor Wf1A6/motor Uf2not connectedf3brake +f4A6/motor Vf5brake -f6A6/motor

21、WPEground conductorPEground conductorDescription3Cabling plans and pin allocation diagrams (continued)MotorMotor temp.ResolverBrake-MS1 S3S2 S4 R1 R2WUV1264 58 911 121 2 10 7XM1XP1Connector housingHousing X02Housing X01219837641463 5X30aX1RailFig. 6Cabling plan, drive A 1 (only valid for KR 45/2, KR

22、 60/2, KR 60 L45/2, KR 60 L30/2)MotorMotor temp.ResolverBrake-MS1 S3S2 S4 R1 R2WUV8 911 121210 7XP1UVW+ -XM1.1Connector housingConnector housingHousing X02 5XM1 Connector housing219837654X1Housing X015X30aRailFig. 7 Cabling plan, drive A 1 (only valid for KR 30 L15)Ro/El/02/05.01 05.99.04 en11 of151

23、4361264+5+MotorResolverMotor temp.Brake-MS1 S3S2 S4 R1 R2WUV8 911121210 7XP2UVW+ -XM2.1Connector housingConnector housingHousing X02 5XM2 2 1983 7654X2Connector housingHousing X015X30bRailFig. 8Cabling plan, drive A 2MotorMotor temp.ResolverBrakeM-S1 S3S2 S4 R1 R2WUV216458 911121210 7XM3XP3Connector

24、 housingHousing X01Housing X0221983765414635X30cX3RailFig. 9 Cabling plan, drive A 3Ro/El/02/05.01 05.99.04 en12 of 15+14361264+Description3Cabling plans and pin allocation diagrams (continued)MotorMotor temp.ResolverBrake-MS1 S3S2 S4 R1 R2WUV1264 58 911121 2 10 7XM4XP4Connector housingHousing X01HousingX022198376541463 5X30dX4RailFig. 10Cabling plan, drive A 4MotorMotor temp.ResolverBrakeM-