ro_el_01_33_en.pdf

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ROBOT
(V)KR 6, 16; ...K; ...KS; ...arc
(V)KR 30, 60 K; (V)KR 30, 60- ...HA; ...KS
-3;
(V)KR 150, 180, 210; (V)KR 150, 180, 210, 240- ..K
-2;
(V)KR 100, 140, 200 comp
(V)KR 100 P; (V)KR 100, 120- P
-2
(V)KR 180 PA; (V)KR 100, 180- PA
-2
(V)KR 40 PA; (V)KR 150 W
Description
Connecting Cables
Robot - Control Cabinet (V)KR C2
-
Issued: 05 Dec 2005
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Version: 08
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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
2
3
3.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Junction boxes on robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Coding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
7
8
8
4
5
6
Connector panel on control cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the connecting cables . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connector pin allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
11
12
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Description
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1
Valid for
(V)KR 6; ...KS; ...EX; ...arc
(V)KR 16; ...K; ...KS; ...EX; ...CR; ...arc
(V)KR 30- (V)KR 60- (V)KR 60 L45- (V)KR 60 L30-
-3;
-3;
-3;
-3
(V)KR 30 L16; ...EX
(V)KR 30 HA; (V)KR 60 HA; (V)KR 60 L45 HA; (V)KR 60 L30 HA
(V)KR 30- KS, (V)KR 60- KS, (V)KR 60 L45- KS, (V)KR 60 L30- KS
-3
-3
-3
-3
(V)KR 30 K; (V)KR 60 K; (V)KR 60 L45 K; (V)KR 60 L30 K
(V)KR 150; (V)KR 150 L130; (V)KR 150 L110; ...- (V)KR 150 W
-2;
(V)KR 180; (V)KR 180 L150; (V)KR 180 L130; ...-
-2
(V)KR 210; (V)KR 210 L180; (V)KR 210 L150; ...-
-2
(V)KR 240- (V)KR 240 L210- (V)KR 240 L180-
-2;
-2;
-2
(V)KR 100 comp
(V)KR 140 comp; (V)KR 140 L120 comp; (V)KR 140 L100 comp
(V)KR 200 comp; (V)KR 200 L170 comp; (V)KR 200 L140 comp
(V)KR 150 K; (V)KR 150 L130 K; (V)KR 150 L110 K; ...-
-2
(V)KR 180 K; (V)KR 180 L150 K; (V)KR 180 L130 K; (V)KR 180 L100 K; ...-
-2
(V)KR 210 K; (V)KR 210 L180 K; (V)KR 210 L150 K; (V)KR 210 L100 K; ...-
-2
(V)KR 100 P; (V)KR 100, 120- P
-2
(V)KR 40 PA
(V)KR 180 PA; (V)KR 100, 180- PA
-2
General
1
General
Connecting cables are all the plug--in cables running between the robot and the control
cabinet (Fig. 1). They have plug--in connections at both ends. The terminal allocation of the
connectors is given in list form (Section 6). In order to avoid the connectors being mixed up,
the ends of each cable are provided with a designation label, which must match the
corresponding connection point on the robot or on the control cabinet. The cable connections
on the robot and control cabinet are shown in Fig. 1.
The connection points for the connecting cables are the junction boxes on the robot (Fig. 2
to Fig. 5) and the connector panel on the control cabinet (Fig. 6).
The connectors must be inserted carefully to avoid damaging the contacts.
With connecting cables longer than 25 m, an additional ground conductor is required in order
to ensure a low--resistance connection in accordance with DIN EN 60204.
The ground conductor is fastened with cable lugs to threaded bolts.
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