资料说明德国kuka机器人en

1、I 24.03.2004 I College I BK I 1KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeKUKA external axesI 24.03.2004 I College I BK I 2KUKA Roboter GmbH, Hery-Park 3000, D-863

2、68 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeTechnical data of the KPS-60095 A for 0.5 s; cycle43 A for 0.5 s; cycleRated peak current rms160 x 350 x 220 mmDimensions (WxHxD)60 800 VInt. circuit voltage(sh

3、ort-time operation)510 765 VInt. circuit voltage(continuous operation)156 A71 APeak current I2516Peak value fuse135 A for 0.5 s; cycle60 A for 0.5 s; cycleRated peak current25 A12.5 ARated supply current rms3x400 V/AC-10% to 480 V/AC +10% / 49-61 HzSupply voltageKPS-600/20KPS-600/10DesignationI 24.0

4、3.2004 I College I BK I 3KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeTechnical data of the drive servos used - KSDKSD1-08KSD1-16KSD1-32KSD1-48KSD1-64Size/width mm1

5、- 881 - 881 - 882 - 1322 132Int. circuit voltageV0 - 7400 - 7400 - 7400 - 7400 - 740Max. accel. currentA816324864Rated currentA rms48161720Standstill currentA rms5.18.517.022.626.9I 24.03.2004 I College I BK I 4KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax

6、: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeFundamentals for external axesProcedure:Discuss project with KUKA Technical SupportCommissioning at customers plant must only be carried out by qualified personnelCorrect configuration has a positive effect on

7、 cycle time, and electrical and mechanical componentsMaterials:Use of KUKA motorsUse of KUKA mastering kitThe gear unit is dimensioned by the system builderAll single-axis external axis cables are suitable for installation in an energy supply chainSpecial connecting cable lengths are possible, but m

8、ust be checked by KUKAI 24.03.2004 I College I BK I 5KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeDrive package for external axes (with/without gear unit)Single-axis

9、 motor cableSingle-axis control cableKSDmodule+KSDmodule+Single-axis motor cable 15 mSingle-axis control cable 7 m+Single-axis motor cables are available in a variety of different lengths (7/15/25/35/50 m). The control cables are available in the lengths 7 and 15 m.I 24.03.2004 I College I BK I 6KUK

10、A Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeMotor/gear unit combinations for external axesF2CS-T35-118.571-053-335Type C00-100-596F2CS-T25-118.571-053-334Type D69-225-

11、465RV-320E-118.571-050-781Type C00-100-596RV-320E-18571-050-783Type B69-225-463Gear unitMotorI 24.03.2004 I College I BK I 7KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH Col

12、legeMotor/gear unit combinations ratings motor type BGear typeRV-320E-185Gear ratio185Rated torque3140 NmAcceleration torque 4250 NmMotor typeBPower3.8 kWMax. motor speed3000 min-1Static torque18 NmAcceleration torque35 NmBrake holding torque18 NmGear unitMotorI 24.03.2004 I College I BK I 8KUKA Rob

13、oter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeMotor/gear unit combinations ratings motor type CGear typeRV-320E-118.5Gear ratio118.5Rated torque3140 NmAcceleration torque 425

14、0 NmMotor typeCPower3.8 kWMax. motor speed3000 min-1Static torque11 NmAcceleration torque22 NmBrake holding torque11 NmGear unitMotorI 24.03.2004 I College I BK I 9KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-robot

15、er.de Copyright by KUKA Roboter GmbH CollegeMotor/gear unit combinations ratings motor type DGear typeF2CS-T25-118.5Gear ratio118.5Rated torque345 NmAcceleration torque 460 NmMotor typeDPower0.78 kWMax. motor speed3000 min-1Static torque3 NmAcceleration torque6.7 NmBrake holding torque3 NmGear unitM

16、otorI 24.03.2004 I College I BK I 10KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeMotor/gear unit combinations ratings motor type CGear typeF2CS-T35-118.5Gear ratio11

17、8.5Rated torque585 NmAcceleration torque 1000 NmMotor typeCPower3.5 kWMax. motor speed3000 min-1Static torque11 NmAcceleration torque22 NmBrake holding torque18 NmGear unitMotorI 24.03.2004 I College I BK I 11KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax:

18、+49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeExternal axes in the standard control cabinetAND/ORThe control cabinet is designed for up to 8 axes!I 24.03.2004 I College I BK I 12KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33

19、-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeWiring of an external axis in the basic cabinetRobot motor/control cableExternal axis control cableExternal axis motor cableI 24.03.2004 I College I BK I 13KUKA Roboter GmbH, Hery-Park 3000, D-86368

20、Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeWiring of two external axes in the basic cabinetRobot motor/control cableExternal axis control cableExternal axis motor cableI 24.03.2004 I College I BK I 14KUKA R

21、oboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeComparison of control cabinets for 6 / 8 axes6 axes8 axesKSD for E1 and E2I 24.03.2004 I College I BK I 15KUKA Roboter GmbH, H

22、ery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeComparison of the control cabinet connector panels (1) 6 axes8 axesMotor cables X7.1 and X7.2I 24.03.2004 I College I BK I 16KUKA Roboter Gm

23、bH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeFundamentals for the operation of more than 2 external axesA top-mounted cabinet is required for three or more external axes!In this ca

24、se, all external axis KSDs are installed in the top-mounted cabinet and supplied with power there by the second KPS.I 24.03.2004 I College I BK I 17KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright

25、by KUKA Roboter GmbH CollegeComparison of control cabinets for 8 / 10 axes8 axes10 axesKSD for E1 and E2Additional KPS and KSDs for E1 E4 in the top-mounted cabinetI 24.03.2004 I College I BK I 18KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/

26、45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeComparison of the control cabinet connector panels (2) 8 axes10 axesRDC cable X212nd RDC cable XA21I 24.03.2004 I College I BK I 19KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +4

27、9 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeComparison of the control cabinet connector panels (3) 8 axes10 axesMotor cables X7.1 and X7.2Motor cables X9.1 X9.4I/O interface for SBM2: XA16I 24.03.2004 I College I BK I 20KUKA Roboter GmbH, Hery-Park 3000, D-

28、86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeTop-mounted cabinetThe batteries ensure the supply of power to the second KPS and the additional ESC board, even in the event of a power failureI 24.03.2004

29、I College I BK I 21KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeESC board in the top-mounted cabinetX1: Power supplyX6: Connection to ESC board in the basic cabinetX3: Jumper plugI 24.