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Description
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e Copyright KUKA Roboter GmbH
This 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 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 precluded, 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 in subsequent editions.
Subject to technical alterations without an effect on the function.
PD Interleaf
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Contents
1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Wiring diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
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Description
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1 General
1 General
For use in certain production technologies, the robot can be equipped with an energy supply
system for handling (Fig. 1) installed in the area between the base frame and the swing
frame. The energy supply system consists of a dress package for A 1 -- A 5 for transmitting
the energy, fluids and signals typical of the technological process concerned, and the
“holders for energy supply system” required for attaching it to the robot.
The energy supply system A 1 -- A 5 accommodates the electric cables and ensures that
they are guided with minimum stress throughout the permitted working envelope. It is
installed between interface A 1 (Fig. 1/14) on the base frame (13) and interface A 5 (5) on
the swing frame (6), and consists of an application--specific dress package (9) with flexible
tubes (3, 11, 15) and the associated cables and hoses. Flexible tube (15) is installed in the
base frame (13) behind a protective cover (16), while flexible tube (11) is fastened to the
rotating column (10) and to the link arm (8), under the cover (7), by means of holders (17)
and hinged clamps (12). Flexible tube (3) is fastened to the arm (18) and swing frame (6) by
means of holders (1, 4) and hinged clamps (2).
The energy supply system is attached to the robot in such a way that the dress package does
not hinder the motion of the robot, while ensuring that the dress package has maximum
freedom of movement with minimum wear.
The cables and hoses are connected to an interface on the base frame (interface A 1) and
on the swing frame (interface A 5).
The design of the energy supply system is suitable for most applications in terms of reach
and resistance to wear. There may, of course, be program--specific applications for which
this version is of only limited use. A special version is required in such cases, or alternatively
a corresponding adaptation of the energy supply system or modification of the program
sequence.
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Description
1 2 3 2
18
17 6
7
17
10
16
11
15
14 12
13
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1 General (continued)
1 2
Base frame
XM7.1
X76
1 Control cable
2 Motor cable for single axis
3 Control cable without connectors
4 Control cable for single axis
4 3
Swing frame
1 2
Fig. 2 Interface on base frame and swing frame for motor and control cables
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Description
2 Technical data
D KUKA article numbers
-- Energy supply system assy Art. no. 00--126--226
-- Dress package Art. no. 00--126--181
D Wiring diagrams
-- Fig. 3 to Fig. 6
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2 Technical data (continued)
D Air line
-- Hose 1/2”, blue
-- Connection at interface A 1 with bulkhead union, straight, M22x1.5
-- Connection at interface A 5 with bulkhead union, straight, M22x1.5
-- Pressure max. 2.0 MPa
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Description
3 Wiring diagrams
Wiring diagram
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3 Wiring diagrams (continued)
Wiring diagram
Connector Pin Wire Strip Wire Connector Pin Signal designation
X76 YE/GN X106 Grd. conductor
Control signal
Guide pin
09 33 000 9908
Guide bush
09 33 000 9909
X76 X106
WIRING DIAGRAM
Connector Pin Wire Strip Wire Connector Pin Signal designation
X7 XP7.5
0.25 mm2 BN
0.25 mm2 WH
Shield
0.25 mm2 YE
0.25 mm2 GN
0.25 mm2 PK
0.25 mm2 GY
0.25 mm2 RD
0.25 mm2 BU
Housing Shield
Shield
Shield
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Description
WIRING DIAGRAM
Connector Pin Wire Wire Wire Connector Pin Signal designation
XM7.1 XM7.5
RD Brake +
BU Brake --
GN/YE Ground conductor
Housing Shield, connector housing
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