ROBOT

(V)KR 30, 60 HA; (V)KR 30, 60--3

Description

Energy Supply System, Handling, A 1 -- A 3

Valid for Art. no. 00--124--176

Issued: 20 Nov 2006 Version: 00

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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.

KUKA 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

Valid for (V)KR 30 HA

(V)KR 30--3; (V)KR 60--3; (V)KR 60 L45--3; (V)KR 60 L30--3
(V)KR 30 L16; ...EX
(V)KR 30 HA; (V)KR 60 HA; (V)KR 60 L45 HA; (V)KR 60 L30 HA

1 General
For use in certain production technologies, the robot can be equipped with an “energy supply
system for handling” installed in the area between the base frame (Fig. 1/7) and the arm (12).
The energy supply system consists of a “dress package for A 1 -- A 3” 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.
A non--terminated control cable is also routed between interface A 1 (on the base frame) and
the rotating column, which is intended for use with the working range monitoring option.
The energy supply system A 1 -- A 3 is installed between the interface A 1 (8) on the base
frame (7) and the open cable end of the interface A 3 (1) on the arm (12). It consists of an
application--specific dress package with its two flexible tubes (2, 10). The first flexible tube
(10) is installed in the base frame behind a protective cover (6). It is fastened at each end
by means of a clamp (9), but is otherwise free to move with the motion of the robot. The
second flexible tube (2) is attached to the rotating column (5), link arm (11) and arm (12) using
hinged clamps (3, 4). The energy supply system also includes the interface A 1. They form
a compact unit which can be exchanged quickly and easily.
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.

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 Description

1
12

2
3

11

5
10
6
9
8 7
1 Interface A 3, open cable end 7 Base frame
2 Flexible tube, A 2 -- A 3 8 Interface A 1 on base frame
3 Hinged clamp 9 Clamp
4 Hinged clamp 10 Flexible tube, A 1 -- A 2
5 Rotating column 11 Link arm
6 Cover plate 12 Arm

Fig. 1 Energy supply system, handling, A 1 -- A 3, open

Base frame 1 2 3

X71
X76

air

1 Control cable
2 Control cable, Multibus
3 Control cable, working range monitoring
4 Air line, 3/8”, blue 4

Fig. 2 Connection panel on base frame for data cables and air lines

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2 Technical data

2 Technical data
D KUKA article no.
-- Energy supply system assy Art. no. 00--124--176
-- Dress package Art. no. 00--124--177

D Wiring diagrams
-- Fig. 3 to Fig. 5

D Control cable, X76 -- X...

-- Configuration 23x 1 mm2 + 2x 1 mm2 shielded
-- Rated voltage 250 V AC
-- Current 5 A (Derating factors must be taken into account)
-- Connection Surface--mounted housing HAN 25D on base
frame, open cable end on arm

D Control cable without connectors X74 --X....

-- Configuration 23x 1 mm2 + 2x 1 mm2 shielded
-- Rated voltage 250 V AC
-- Current 5 A (Derating factors must be taken into account)

D Multibus control cable, X71 -- X...

-- Configuration 2x (2x 0.25) mm2, shielded; IBS
2x (2x 0.34) mm2, shielded; CAN
2x 0.34 mm2, shielded
4x 1 mm2 24 V/0 V supply
1x 1 mm2 ground conductor (GN/YE)
-- Rated voltage see Multibus specification
EN 60204--1 (Derating factors must be taken into
account)
-- Current see Multibus specification
EN 60204--1 (Derating factors must be taken into
account)
-- Connection 17--pole connector with crimp contacts
The exact connector designation may be noted
from the parts list.

In the case of multi--strand cables, the derating factors specified in EN 60204

must be taken into account.

D Air line
-- Hose 3/8”, blue
-- Connection at interface A 1 with bulkhead union, M16x1.5
-- Connection at interface A 3, open
-- Pressure max. 2.0 MPa

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 Description

3 Wiring diagrams

Wiring diagram: Signal

Connector Pin Wire Strip Wire Connector Pin designation
X76 GN/YE Grd. conductor
Control signal

Guide pin
09 33 000 9908
Guide bush
09 33 000 9909

X76

Fig. 3 Wiring diagram, control cable, X76 -- X...

Wiring diagram: Signal

Connector Pin Wire Strip Wire Connector Pin designation
X74 YE/GN Grd. conductor

Fig. 4 Wiring diagram, non--terminated control cable, 23x 1 mm2 + 2x 1 mm2

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3 Wiring diagrams (continued)

Wiring diagram:

Signal
Connector Pin Wire Strip Wire Connector Pin designation
X71 X91
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
0.34 mm2
0.34 mm2
0.34 mm2
0.34 mm2
0.34 mm2
0.34 mm2
1 mm2
1 mm2
1 mm2
1 mm2
1 mm2 PE
n.c
.n.c
Housing Shields Housing .

Fig. 5 Wiring diagram, Multibus control cable, X71 -- X...

1

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