CONTROL CABINET

KR C2

Drive Cable Set 7 00--113--829

Functional 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 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 Fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.1 Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.2 Designated use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Installation position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3.1 Motor connector X20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3.2 Motor connector X20 (continued) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3.3 Motor connector X7.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3.4 Motor connector X7.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

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Drive Cable Set 7 00--113--829

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 1 Functional description

1 Functional description

1.1 Fundamentals
The option described in this documentation is Drive Cable Set 7 for an 8--axis robot controller.
Drive Cable Set 7 is designed for robot type KR 30/2 (motor package 11) and KR 30 L15
(motor package 12). Compared with the standard set, drive module slots 7 and 3 have been
interchanged. Axes 1 and 2 are connected to intermediate terminals via terminal strip N1/X4
and N2/X4. Axis 7 is assigned separately to the angled motor connector X7.1. Axis 8 is
assigned separately to the straight motor connector X7.2. Axis disconnection is not possible.
The brakes are controlled via contactor KB1 while miniature circuit--breaker F19.1 is
responsible for fusing.
Drive Cable Set 7 consists of:
G the cables for servo drive modules N1 -- N8;
G the 8 servo drive modules (size as ordered);
G motor connector X20;
G motor connector X7.1;
G motor connector X7.2;
G miniature circuit--breaker F19.1;
G motor contactor KB1.
In the case of size 1 servo drive modules, cables W42050b and W42051b are required for
N1 and N2; the cables are included in this option.

1.1.1 Liability
This option is designed and built using state--of--the--art technology and in accordance with
the recognized safety rules. Nevertheless, improper installation of this unit or its employment
for a purpose other than the intended one may constitute a risk to life and limb of operating
personnel or of third parties, or cause damage to or failure of the control cabinet, resulting
in damage to or failure of the entire drive system and other material property.
Drive Cable Set 7 for 8 axes may only be used in technically perfect condition in accordance
with its designated use and only by safety--conscious persons who are fully aware of the risks
involved in its operation. Its use is subject to compliance with this documentation.

1.1.2 Designated use

Using this option for any purpose other than or additional to that described above is
considered contrary to its designated use. The manufacturer cannot be held liable for any
damage resulting from such use.
The risk lies entirely with the user.
No liability can be accepted if these directions are disregarded.

Installation or exchange of this option or individual components thereof may be

performed only by qualified personnel specially trained for this purpose and
acquainted with the risks involved.

For detailed information about all connections, please refer to the accompanying circuit
diagrams and cabling description.

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 Drive Cable Set 7 00--113--829

1.2 Installation position

Servo drive module N3 Servo drive module N6

Servo drive module N8 Servo drive module N5

G1

Motor contactor KB1 Servo drive module N4

Servo drive module N7
Circuit--breaker F19.1
Servo drive module N2
Servo drive module N1

Feed--through terminal B --

Motor connector Motor connector Motor connector

X20 X7.1 X7.2

Fig. 1 Installation of the components

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 1 Functional description (continued)

1.3 Connections

1.3.1 Motor connector X20

X20
N1 / X4
1 a1
Motor M1 --U1
3 a2
N1 / X2 Motor M1 --V1
5 a3
Motor M1 --W1
2 PE
4
N1 / X3
6
N2 / X4 b1
1
Motor M2 --U1
3 b2
N2 / X2 Motor M2 --V1
5 b3
Motor M2 --W1
2 PE
4
N2 / X3
6
c1
Motor M3 --U1
c2
N3 / X2 Motor M3 --V1
c3
Motor M3 --W1
PE
d1
Motor M4 --U1
d4
N4 / X2 Motor M4 --V1
d6
Motor M4 --W1
PE
e1
Motor M5 --U1
e4
N5 / X2 Motor M5 --V1
e6
Motor M5 --W1
PE
f1
Motor M6 --U1
f4
N6 / X2 Motor M6 --V1
f6
Motor M6 --W1
PE
Fig. 2 Motor connector X20 with Drive Cable Set 7 for 8 axes

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Drive Cable Set 7 00--113--829

1.3.2 Motor connector X20 (continued)

X20
d3

e3
F19
f3

d5 Brake, axes 1 -- 6
B--
e5

f5

PE
Ground conductor

Fig. 3 Motor connector X20 with Drive Cable Set 7 for 8 axes

1.3.3 Motor connector X7.1

X7.1
U
Motor M7 --U1
V
N7 / X2 Motor M7 --V1
W
Motor M7 --W1
PE
Ground conductor

N7 / X3

+
KB1
-- Brake, axis 7
B--

Fig. 4 Motor connector X7.1 with Drive Cable Set 7 for 8 axes

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 1 Functional description (continued)

1.3.4 Motor connector X7.2

X7.2
1
Motor M8 --U1
2
N8 / X2 Motor M8 --V1
6
Motor M8 --W1
PE
Ground conductor
4
KB1
5 Brake, axis 8
B--

Fig. 5 Motor connector X7.2 with Drive Cable Set 7 for 8 axes
1

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