ROBOT

KR QUANTEC PA

Assembly and Operating Instructions

Energy Supply System, Handling, A1 -- A5

Art. no. 00--211--944

Issued: 08 Sep 2017 Version: 00

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e Copyright 2017

KUKA Roboter GmbH

Zugspitzstrasse 140
D--86165 Augsburg
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.

Translation of the original document

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Contents

1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 Wiring diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

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 Assembly and Operating Instructions

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1 Description

Valid for KR Quantec PA

1 Description
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 A1 -- A5, typical of the ap-
plication concerned, the interfaces on axis 1 and axis 5 and the holder group required for at-
tachment to the robot.
The energy supply system A1 -- A5 is installed between the interface A1 (Fig. 1/9) on the
base frame (9) and on the swing frame (1), and consists of a dress package with its two flexi-
ble tubes (Fig. 2). The flexible tube A1 -- A3 (Fig. 1/6) is routed from the rotating column (10)
to the link arm (7) and from there to the arm (5). The second section of the flexible tube runs
along the arm (5) to the interface on axis 5 (2) on the swing frame (1). At this interface, the
supply lines can then be routed to axis 6 or directly to the tool.
The dress package is fastened using hinged clamps. Clamping pieces serve to ensure the
correct positioning of the supply lines.
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 free-
dom of movement with minimum wear.
The cables and hoses are connected to a common interface on the base frame and on the
swing frame.

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 Assembly and Operating Instructions

1
2
3
5 4

10

9 8

1 Swing frame 6 Flexible tube, A1 -- A3

2 Interface A5 7 Link arm
3 Flexible tube, A3 -- A5 8 Base frame
4 Hinged clamps 9 Interface A1, base frame
5 Arm 10 Rotating column

Fig. 1 Energy supply system, handling, A1 -- A5

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1 Description (continued)

When determining the supply lines to be installed in the two--piece flexible tube (Fig. 2), the
user must ensure that the maximum utilization factor of 70% is not exceeded. The cables
and hoses used must be suitable for installation in robotic dress packages and must not be
too stiff. The minimum bending radius (approx. 10x the cable diameter) of the individual ca-
bles must be observed and complied with.
The responsibility for the function and safety of the energy supply system is borne by the
user.

1 2 3 4 5 6

A1 4030 40 A3
730 10 1690 10
530 10 480 10 820 10

A3 A5
930 30
460 10
30 30

7 8 9

1 Base bracket 6 Support shell, corrugated tube DN70

2 Clamping bracket 7 Intermediate piece DN52
3 Clamping angle 8 Flexible tube DN52, A3 -- A5
4 Flexible tube 9 Support shell, corrugated tube DN52
5 Intermediate piece DN70

Fig. 2 Structure of flexible tube

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 Assembly and Operating Instructions

2
5

1 Control cable
4
2 Multibus cable
3 Air line, 1/2”, black
4 Air line, 1/2”, blue
5 Profinet cable 3
6 Power supply

Fig. 3 Interface A1 on connection panel

1 2 3 4 5 6

1 Control cable
2 Power supply
3 Profinet cable
4 Air line, 1/2”, blue
5 Multibus cable
6 Air line, 1/2”, black

Fig. 4 Interface A5 on connection panel

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2 Technical data

2 Technical data
D KUKA article no.
-- Energy supply system assy Art. no. 00--211--944
-- Dress package Art. no. 00--211--943

D Wiring diagrams
-- Fig. 5 to Fig. 8

D Control cable, X76 -- X96

-- Configuration 23x 1 mm2 + 2x 1 mm2 shielded
-- Rated voltage 250 V AC
-- Current EN 60204--1
(derating factors must be taken into account)
-- Connection A1 25--pole HAN 25D surface--mounted
housing with crimp terminals on
base frame
A5 25--pole HAN 25 D surface--mounted
housing with crimp terminals on arm
The exact connector designation may be noted
from the parts list.
-- Protection rating IP65 in connected state.

D Multibus cable, X71 -- X91

-- Configuration ”a” 2x (2x 0.25 mm2), shielded; IBS
2x (2x 0.34 mm2), shielded; CAN
2x 0.34 mm2, shielded; Profi
2x (2x 1 mm2) 24 V/0 V supply
1x 1 mm2, ground conductor (GNYE)
-- Configuration ”b” 2x (2x 0,25mm2), shielded; IBS
1x (4x 0.34 mm2), shielded; CAN
2x 0.34 mm2, shielded; Profi
1x (4x 1 mm2), 24 V/0 V supply
1x 1 mm2, ground conductor (GNYE)
-- Rated voltage 30 V DC
-- Current EN 60204--1
(derating factors must be taken into account)
-- Connection Plug--in connections at both ends
A1 Bus coupling, 17--pole,
with crimp contacts
E--part on base frame
A5 Bus coupling, 17--pole,
with crimp contacts
P--part on arm
The exact connector designation may be noted
from the parts list.
-- Protection rating IP65 in connected state.

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 Assembly and Operating Instructions

D Profinet cable, XPN1 -- XPN5

-- Configuration 2x (2x AWG22), shielded
-- Rated voltage 30 V AC/DC
-- Connection A1 Coupling, round, Han Push Pull RJ45
A5 Coupling, round, HAN Push Pull RJ45
The exact connector designation may be noted
from the parts list.
-- Protection rating IP65 in connected state.

D Power supply, XPP1 -- XPP5

-- Configuration 5x 1.5 mm2
Overall braided shield
-- Rated voltage 24 V AC/DC
-- Current EN 60204--1 (derating factors must be taken into
account)
-- Connection Plug--in connections at both ends,
A1 Coupling, HAN Push Pull L Power
A5 Coupling, HAN Push Pull L Power
The exact connector designation may be noted
from the parts list.
-- Protection rating IP65 in connected state

In the case of multi--strand cables, the derating factors specified in EN 60204--1

must be taken into account.

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2 Technical data (continued)

D Air line
-- Hose 1/2”, blue
-- Connection at interface A1 with bulkhead union, M22x1.5
-- Connection at interface A5 with bulkhead union, M22x1.5
-- Pressure max. 2.0 MPa (20 bar)

D Air line
-- Hose 1/2”, black
-- Connection at interface A1 with bulkhead union, M22x1.5
-- Connection at interface A5 with bulkhead union, M22x1.5
-- Pressure max. 2.0 MPa (20 bar)

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 Assembly and Operating Instructions

3 Wiring diagrams

Wiring diagram
Connector Pin Wire Strip Wire Connector Pin Signal designation
X76 GNYE GNYE X96 Ground conductor
Control signal

Guide pin

Guide bush

X76 X96

Fig. 5 Wiring diagram, control cable, X76 -- X96

Wiring diagram
Shield Shield
Connect. Pin Multibus Wire Wire Multibus Pin Connect. Signal designation
a b a b a b
X71 X91
7 YE YE 7
8 GN GN 8
9 GY GY 9
10 PK PK 10
11 GN GN 11
6 RD RD 6
17 RD YE 17
12 BU GN 12
13 WH WH 13
14 BU BN 14
2 BU BU 2
3 BN BN 3
1 BK BK 1
4 RD RD 4
5 GNYE GNYE 5
15 15 not assigned
16 16 not assigned
Housing Connector housing

Fig. 6 Wiring diagram, Multibus cable ”a”, ”b”, X71 -- X91

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3 Wiring diagrams (continued)

Wiring diagram

Connector Pin Wire Strip Wire Connector Pin Signal designation

XPN1 XPN5
1 AWG 22 YE 1 TD+
2 AWG 22 OG 2 TD--
3 AWG 22 WH 3 RD+
6 AWG 22 BU 6 RD--
Housing Housing

Fig. 7 Wiring diagram for Profinet cable, XPN1 -- XPN5

Wiring diagram

Connector Pin Wire Strip Wire Connector Pin Signal designation

XPP1 1 1.5 mm2 1 XPP5 1 US1 24 V

2 1.5 mm2 2 2 US1 0 V
3 1.5 mm2 3 3 US2 24 V
4 1.5 mm2 4 4 US2 0 V
5 1.5 mm2 YE 5 PE

Fig. 8 Wiring diagram for power supply, XPP1 -- XPP5

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