Controller Option KUKA Roboter GmbH

External Cabling

For KR C4 Robot Controllers

Assembly and Operating Instructions

Issued: 18.06.2014

Version: MA KR C4 extended extern wiring V2

 External Cabling

© Copyright 2014
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims 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, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC

Publication: Pub MA KR C4 extended externe Verkabelung (PDF) en

Book structure: MA KR C4 extended externe Verkabelung V2.2
Version: MA KR C4 extended extern wiring V2

2 / 33 Issued: 18.06.2014 Version: MA KR C4 extended extern wiring V2

 Contents

Contents
1 Introduction .................................................................................................. 5
1.1 Industrial robot documentation ................................................................................... 5
1.2 Representation of warnings and notes ...................................................................... 5
1.3 Terms used ................................................................................................................ 5

2 Purpose ........................................................................................................ 7
2.1 Target group .............................................................................................................. 7
2.2 Intended use .............................................................................................................. 7

3 Product description ..................................................................................... 9

3.1 Motor box and RDC box connection examples .......................................................... 9
3.2 Motor boxes ............................................................................................................... 10
3.2.1 Motor box for 4 axes ............................................................................................. 11
3.2.2 Motor box for 6 axes ............................................................................................. 11
3.3 RDC box .................................................................................................................... 12
3.3.1 RDC box (cascadable) .......................................................................................... 12
3.3.2 Cover for RDC box (cascadable) .......................................................................... 13
3.4 Motor cables for single motors ................................................................................... 13
3.5 Motor cables for multiple motors ................................................................................ 13
3.6 Data cable .................................................................................................................. 13
3.7 Resolver cable ........................................................................................................... 14

4 Technical data .............................................................................................. 15

4.1 Motor cables for multiple motors ................................................................................ 15
4.1.1 Motor cable for 3 motors ....................................................................................... 15
4.1.2 Motor cable for 4 motors ....................................................................................... 15
4.1.3 Motor cable for 6 motors ....................................................................................... 15
4.1.4 Extensions ............................................................................................................ 15
4.2 Motor cable for single motors ..................................................................................... 16
4.2.1 Extensions ............................................................................................................ 16
4.3 Data cable .................................................................................................................. 16
4.3.1 2nd data cable ...................................................................................................... 17
4.3.2 Extensions ............................................................................................................ 17
4.4 Resolver cable ........................................................................................................... 17
4.4.1 Extensions ............................................................................................................ 17

5 Safety ............................................................................................................ 19
6 Start-up and recommissioning ................................................................... 21
6.1 Installing the RDC cover (cascadable) ....................................................................... 21

7 KUKA Service .............................................................................................. 23

7.1 Requesting support .................................................................................................... 23
7.2 KUKA Customer Support ........................................................................................... 23

Index ............................................................................................................. 31

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 1 Introduction

1 Introduction

1.1 Industrial robot documentation

The industrial robot documentation consists of the following parts:

 Documentation for the manipulator
 Documentation for the robot controller
 Operating and programming instructions for the System Software
 Instructions for options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.

1.2 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

that death or severe injuries will occur, if no precautions
are taken.

These warnings mean that death or severe injuries may

occur, if no precautions are taken.

These warnings mean that minor injuries may occur, if

no precautions are taken.

These warnings mean that damage to property may oc-

cur, if no precautions are taken.

These warnings contain references to safety-relevant information or

general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.

This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:

Procedures marked with this warning must be followed

exactly.

Notes These notices serve to make your work easier or contain references to further
information.

Tip to make your work easier or reference to further information.

1.3 Terms used

Term Description
CK Customer-built Kinematics
EDS Electronic Data Storage (memory card)
EMD Electronic Mastering Device
NA North America

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 External Cabling

Term Description
RDC Resolver Digital Converter
EA External axis (linear unit, Posiflex)

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 2 Purpose

2 Purpose

2.1 Target group

This documentation is aimed at users with the following knowledge and skills:
 Advanced knowledge of electrical and electronic systems
 Advanced knowledge of the robot controller

For optimal use of our products, we recommend that our customers

take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.

2.2 Intended use

Use The external cabling is valid for the following robot controllers:
 KR C4
 KR C4 CK
 KR C4 midsize
 KR C4 midsize CK
 KR C4 extended
 KR C4 extended CK
 KR C4 NA
 KR C4 CK NA
 KR C4 NA extended
 KR C4 CK NA extended
The external cabling for the KR C4 robot controllers must only be used for the
following connections:
 Motor cables for multiple motors
 Connection of a KR C4 with a manipulator
 Connection of a KR C4 with a CK
 Connection of a KR C4 with an EA
 Connection of a KR C4 with a motor box
 Motor cables for single motors
 Connection of a motor box with a motor
 Connection of a KR C4 with a motor
 Data cables
 Connection of a KR C4 with an RDC box
 Connection of an RDC box with an RDC box
 Resolver cables
 Connection of an RDC with the resolver of a motor

Misuse Any use or application deviating from the intended use is deemed to be misuse
and is not allowed. This includes e.g.:
 Operation outside the permissible operating parameters

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 3 Product description

3 Product description

3.1 Motor box and RDC box connection examples

Description The diagram (>>> Fig. 3-1 ) shows a system with a manipulator with 6 axes
and 8 single axes. The RDC boxes are connected in series (cascade).

Fig. 3-1: Example: 14 axes

1 Connection panel on KR C4 extended robot controller

2 Motor
3 Motor cable for single axis
4 Resolver cable to RDC box
5 Manipulator
6 Motor box for 4 axes
7 RDC box
8 Data cable between the RDC boxes
9 RDC box (cascadable)
10 Data cable between RDC box (cascadable) and robot controller,
X21.1
11 Motor cable between motor box and robot controller
12 Motor cable between manipulator and robot controller
13 Data cable between manipulator and robot controller, X21

Description The diagram (>>> Fig. 3-2 ) shows a system with 16 single axes. The RDC
boxes are connected in series.

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 External Cabling

Fig. 3-2: Example: 16 axes

1 Connection panel on KR C4 extended robot controller

2 Data cable between RDC box (cascadable) and robot controller, X21
3 RDC box (cascadable)
4 Motor box for 4 axes
5 Data cable between the RDC boxes
6 Motor cable between motor box and robot controller
7 RDC box
8 Data cable between RDC box (cascadable) and robot controller,
X21.1
9 Motor cable for single axis
10 Resolver cable to RDC box
11 Motor

3.2 Motor boxes

Overview The motor box is a connection adapter between a motor cable for motors and
motor cables for one motor each. The motor box is available in the following
versions:
 for 4 motors
 with rear wall inlet
 with side wall inlet

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 3 Product description

 closed
The motor cables of the individual axes must be connected directly to
the HAN modules of the multiple connector. For this, the correspond-
ing holes for the cable inlets must be drilled in the housing.
 for 6 motors
 with rear connector outlet
 closed
The motor cables of the individual axes must be connected directly to
the HAN modules of the multiple connector. For this, the correspond-
ing holes for the cable inlets must be drilled in the housing.

3.2.1 Motor box for 4 axes

Description The motor box is a connection adapter between a motor cable for 4 motors
and 4 motor cables for one motor each. The motor box is connected at the ro-
bot controller with a multiple connector. 4 motor cables can be connected via
single-axis connectors.

Overview

Fig. 3-3: Motor box for 4 axes

1 Motor box with side wall inlet

2 Motor box with rear wall inlet
3 Motor box (closed)

3.2.2 Motor box for 6 axes

Description The motor box is a connection adapter between a motor cable for 6 motors
and 6 motor cables for one motor each. The motor box is connected at the ro-
bot controller with a multiple connector. 6 single-axis motor cables with size 1
circular connectors can be connected.

Overview

Fig. 3-4: Motor box for 6 axes

1 Motor box with rear connector outlet

2 Motor box (closed)

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 External Cabling

3.3 RDC box

Description The Resolver Digital Converter (RDC) is used to detect the motor position da-
ta. 8 resolvers can be connected to the RDC. In addition, the motor tempera-
tures are measured and evaluated. For non-volatile data storage, the EDS is
located in the RDC box.

RDC box

Fig. 3-5: RDC box connections

1 Union for external axis control cables X1 ... X6

2 Bolt for ground conductor connection
3 Data cable X31
4 EMD connection X32
5 Cable inlet for resolver connections X7 and X8

3.3.1 RDC box (cascadable)

Description The Resolver Digital Converter (RDC) is used to detect the motor position da-
ta. 8 resolvers can be connected to the RDC. In addition, the motor tempera-
tures are measured and evaluated. For non-volatile data storage, the EDS is
located in the RDC box.
The RDC box is cascadable. 2 RDC boxes per RDC interface (X21 and X21.1)
can be connected in series.

RDC box
(cascadable)

Fig. 3-6

1 EMD connection X32

2 Data cable X31
3 Data cable X21 (cascadable)
4 Cable inlet for resolver connections

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 3 Product description

3.3.2 Cover for RDC box (cascadable)

Description The “Cover for RDC box (cascadable)” option can be retrofitted on RDC boxes
equipped with interface X31, see Section (>>> 6.1 "Installing the RDC cover
(cascadable)" Page 21). The data cable interface X21 is intended for connec-
tion of an additional device (e.g. RDC, ArcSense shunt box, etc.).

The cover for RDC box (cascadable) cannot be retrofitted for KR

Quantec manipulators.

Overview

Fig. 3-7: RDC cover (cascadable)

1 Data cable X31 (IN)

2 Data cable X21 (cascadable) (OUT)

3.4 Motor cables for single motors

Description The motor cables for single motors are used for the following connections:

 2.5 mm2 and 4 mm2 between motor box for 6 axes and motor
 6 mm2 between motor box for 4 axes and motor, or between robot control-
ler and motor
The dimensioning of the cross-section and lengths must be carried out in ac-
cordance with the relevant VDE and EN guidelines and other regulations ap-
plicable to the application and is the responsibility of the system builder.

Extension The motor cable extension for single motors is used for the following connec-
tion:
 Motor cable for single motors and motor

3.5 Motor cables for multiple motors

Description The motor cables for multiple motors are used for the following connections:
 KUKA robot and robot controller
 CK and robot controller
 Motor box and robot controller

3.6 Data cable

Description The data cables are used for the following connections:
 Robot controller and RDC box
 Robot controller and RDC box (cascadable)

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 External Cabling

The data cable extensions are used for the following connections:
 Data cable and RDC box
 Data cable and manipulator

3.7 Resolver cable

Description The resolver cables are used for the following connections:
 RDC box and motors
The resolver cable extensions are used for the following connections:
 Resolver cable and motors

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 4 Technical data

4 Technical data

4.1 Motor cables for multiple motors

4.1.1 Motor cable for 3 motors

Interface connector X20.1; X20.2; X20.3

Lengths 7 m, 15 m, 25 m, 35 m, 50 m
Cross-section 3x 10 mm2
Bending radius 100 mm for single bending
Suitable for use in a cable carrier No
Load max. 3x 64 A
Connector type HAN Modular
Outside diameter 27.5 mm, ±0.5 mm

4.1.2 Motor cable for 4 motors

Interface connector X81; X82; X83; X84

Lengths 3 m, 7 m, 10 m, 15 m, 20 m, 25 m,
30 m, 35 m, 50 m
Cross-section 3x 10 mm2, 1x 6 mm2
Bending radius 100 mm for single bending
Suitable for use in a cable carrier No
Load max. 3x 64 A, 1x 40 A
Connector type HAN Modular
Outside diameter 29.9 mm ±0.5 mm

4.1.3 Motor cable for 6 motors

Interface connector X20

Lengths 3 m, 7 m, 10 m, 15 m, 20 m, 25 m,
30 m, 35 m, 50 m
Cross-section 3x 6 mm2, 3x 2.5 mm2
Bending radius 100 mm for single bending
Suitable for use in a cable carrier No
Load max. 3x 40 A, 3x 20 A
Connector type HAN Modular
Outside diameter 30 mm ±0.5 mm

4.1.4 Extensions

Interface connector X30.1 flexible

Lengths 1.6 m, 2 m, 3 m, 4 m, 5 m, 6 m,
7 m, 8 m, 9 m, 10 m, 11 m, 12 m,
13 m, 14 m, 15 m, 16 m, 17 m,
18 m, 19 m, 20 m, 25 m, 30 m,
35 m
Cross-section 3x 6 mm2, 3x 2.5 mm2

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 External Cabling

Bending radius 250 mm for continuous bending

Suitable for use in a cable carrier Yes
Load max. 3x 40 A, 3x 20 A
Connector type HAN Modular
Outside diameter 30 mm ±0.5 mm

4.2 Motor cable for single motors

Interface connector X7.1...X7.12

Cross-section 2.5 mm2, 4 mm2, 6 mm2
Bending radius for 2.5 mm 2 120 mm for continuous bending

Bending radius for 4 mm 2 140 mm for continuous bending

Bending radius for 6 mm 2 160 mm for continuous bending

Suitable for use in a cable carrier Yes
Load max. for 2.5 mm 2 20 A

Load max. for 4 mm 2 40 A

Load max. for 6 mm 2 64 A

Connector type H-J1, H-J1.5
Outside diameter for 2.5 mm 2 10 mm

Outside diameter for 4 mm 2 12 mm

Outside diameter for 6 mm 2 16 mm

4.2.1 Extensions

Motor connector 2.5 mm2

type 1
1.6 m, 2 m, 3 m, 4 m, 5 m, 6 m, 7 m, 8 m, 9 m, 10 m, 11 m, 12 m, 13 m
14 m, 15 m, 16 m, 17 m, 18 m, 19 m, 20 m, 25 m, 30 m, 35 m

4 mm2

1 m, 1.6 m, 2 m, 3 m, 4 m, 5 m, 6 m, 7 m, 8 m, 9 m, 10 m, 11 m, 12 m, 13 m
14 m, 15 m, 16 m, 17 m, 18 m, 19 m, 20 m, 25 m, 30 m, 35 m

Motor connector 6 mm2

type 1.5
1 m, 1.6 m, 2 m, 3 m, 4 m, 5 m, 6 m, 7 m, 8 m, 9 m, 10 m, 11 m, 12 m, 13 m
14 m, 15 m, 16 m, 17 m, 18 m, 19 m, 20 m, 25 m, 30 m, 35 m

4.3 Data cable

Interface connector X21 - X31

Cross-section 2 x 2 AWG24, 2x 1.5 mm2
Lengths 1 m, 3 m, 7 m, 10 m, 15 m, 20 m,
25 m, 30 m, 35 m, 50 m
Bending radius 30 mm for single bending
Suitable for use in a cable carrier No

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 4 Technical data

Connector type HAN Q12

Outside diameter 9 mm ±0.5 mm

4.3.1 2nd data cable

Interface connector X21.1

Cross-section 2 x 2 AWG24, 2x 1.5 mm2
Lengths 1 m, 3 m, 7 m, 10 m, 15 m, 20 m,
25 m, 30 m, 35 m, 50 m
Bending radius 30 mm for single bending
Suitable for use in a cable carrier No
Connector type HAN Q12
Outside diameter 9 mm ±0.5 mm

4.3.2 Extensions

Interface connector X31.1

Cross-section 2 x 2 AWG24, 2x 1.5 mm2
Lengths 1.6 m, 2 m, 3 m, 4 m, 5 m, 6 m,
7 m, 8 m, 9 m, 10 m, 11 m, 12 m,
13 m, 14 m, 15 m, 16 m, 17 m,
18 m, 19 m, 20 m, 25 m, 30 m,
35 m
Bending radius 100 mm for continuous bending
Suitable for use in a cable carrier Yes
Connector type HAN Q12
Outside diameter 10.6 mm ±0.3 mm

4.4 Resolver cable

Interface connector XP
Cross-section 4 x 2 x 0.25 mm2
Lengths 1.3 m, 2 m, 3 m, 4 m, 5 m, 6 m,
7 m, 8 m, 9 m, 10 m, 11 m, 12 m,
13 m, 14 m, 15 m, 16 m, 17 m,
18 m, 19 m, 20 m, 25 m, 30 m
Bending radius 80 mm for continuous bending
Suitable for use in a cable carrier Yes
Connector type M23, 12 contacts
Outside diameter 8 mm ±0.5 mm

The max. difference in cable length between the individual channels

of the RDC box must not exceed 10 m.

4.4.1 Extensions

Interface connector XPx.1

Cross-section 4 x 2 x 0.25 mm2

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 External Cabling

Lengths 0.7 m, 1.4 m, 1.6 m, 2 m, 3 m, 4 m,

4.5 m, 5 m, 5.5 m, 6 m, 7 m, 7.5 m,
8 m, 9 m, 9.5 m, 10 m, 11 m,
11.5 m, 12 m, 13 m, 14 m, 15 m,
16 m, 17 m, 18 m, 19 m, 20 m
Bending radius 80 mm for continuous bending
Suitable for use in a cable carrier Yes
Connector type M23, 12 contacts
Outside diameter 8 mm ±0.5 mm

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 5 Safety

5 Safety
This documentation contains safety instructions which refer specifically to the
product described here. The fundamental safety information for the industrial
robot can be found in the “Safety” chapter of the operating or assembly instruc-
tions for the robot controller.

The “Safety” chapter in the operating instructions or as-

sembly instructions of the robot controller must be ob-
served. Death to persons, severe injuries or considerable damage to
property may otherwise result.

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 6 Start-up and recommissioning

6 Start-up and recommissioning

6.1 Installing the RDC cover (cascadable)

Connections

Fig. 6-1: Overview of RDC connections

Item Connecto Description

r
1 X1 Resolver connection, axis 1
2 X2 Resolver connection, axis 2
3 X3 Resolver connection, axis 3
4 X4 Resolver connection, axis 4
5 X5 Resolver connection, axis 5
6 X6 Resolver connection, axis 6
7 X7 Resolver connection, axis 7
8 X8 Resolver connection, axis 8
9 X13 EDS connection, memory card, RDC
10 X20 EMD
11 X19 KCB OUT
12 X18 KCB IN
13 X17 EMD power supply
14 X15 Power supply IN
15 X16 Power supply OUT (next KCB device)

Preconditions  The robot controller must be switched off and secured to prevent unau-
thorized persons from switching it on again.
 The power cable must be de-energized.

Cables routed from power supply connection X1 to the

main switch are energized even when the main switch is
switched off! This mains voltage can cause injuries on contact.

 Observe the ESD guidelines.

Procedure 1. Remove the 4 screws from the RDC box cover and take off the cover.

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 External Cabling

2. Plug connectors X16 and X19 of the RDC cover (cascadable) into the
RDC module in accordance with the cable labeling.

Fig. 6-2: RDC cover (cascadable)

1 Interface X19
2 Interface X16

3. Close the RDC box cover, taking care not to pinch any cables.

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 7 KUKA Service

7 KUKA Service

7.1 Requesting support

Introduction This documentation provides information on operation and operator control,

and provides assistance with troubleshooting. For further assistance, please
contact your local KUKA subsidiary.

Information The following information is required for processing a support request:

 Model and serial number of the manipulator
 Model and serial number of the controller
 Model and serial number of the linear unit (if present)
 Model and serial number of the energy supply system (if present)
 Version of the system software
 Optional software or modifications
 Diagnostic package KrcDiag:
Additionally for KUKA Sunrise: Existing projects including applications
For versions of KUKA System Software older than V8: Archive of the soft-
ware (KrcDiag is not yet available here.)
 Application used
 External axes used
 Description of the problem, duration and frequency of the fault

7.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
[email protected]

Australia KUKA Robotics Australia Pty Ltd

45 Fennell Street
Port Melbourne VIC 3207
Australia
Tel. +61 3 9939 9656
[email protected]
www.kuka-robotics.com.au

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 External Cabling

Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
[email protected]
www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
[email protected]
www.kuka-roboter.com.br

Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
[email protected]
www.robotec.cl

China KUKA Robotics China Co., Ltd.

No. 889 Kungang Road
Xiaokunshan Town
Songjiang District
201614 Shanghai
P. R. China
Tel. +86 21 5707 2688
Fax +86 21 5707 2603
[email protected]
www.kuka-robotics.com

Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
[email protected]
www.kuka-roboter.de

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 7 KUKA Service

France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
[email protected]
www.kuka.fr

India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
[email protected]
www.kuka.in

Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
[email protected]
www.kuka.it

Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
[email protected]

Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
[email protected]
www.kuka-robotics.com/canada

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 External Cabling

Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
[email protected]

Malaysia KUKA Robot Automation (M) Sdn Bhd

South East Asia Regional Office
No. 7, Jalan TPP 6/6
Taman Perindustrian Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 (03) 8063-1792
Fax +60 (03) 8060-7386
[email protected]

Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
[email protected]
www.kuka-robotics.com/mexico

Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
[email protected]

Austria KUKA Roboter CEE GmbH

Gruberstraße 2-4
4020 Linz
Austria
Tel. +43 7 32 78 47 52
Fax +43 7 32 79 38 80
[email protected]
www.kuka.at

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 7 KUKA Service

Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]

Portugal KUKA Sistemas de Automatización S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
[email protected]

Russia KUKA Robotics RUS

Werbnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
[email protected]
www.kuka-robotics.ru

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

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Spain KUKA Robots IBÉRICA, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
[email protected]
www.kuka-e.com

South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za

Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
[email protected]
www.kuka.com.tw

Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
[email protected]
www.kuka-roboter.de

Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
[email protected]

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 7 KUKA Service

Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
[email protected]

USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
[email protected]
www.kukarobotics.com

UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
[email protected]

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 Index

Index
Numbers T
2nd data cable 17 Target group 7
Technical data 15
C Terms used 5
CK 5 Training 7
Cover for RDC box (cascadable) 13
W
D Warnings 5
Data cable 13, 16
Data cable extensions 17
Documentation, industrial robot 5

E
EA 6
EDS 5
EMD 5

I
Intended use 7
Introduction 5

K
KUKA Customer Support 23

M
Motor box, 4 axes 11
Motor box, 6 axes 11
Motor box, connection examples 9
Motor cable extensions 15
Motor cable for 3 motors 15
Motor cable for 4 motors 15
Motor cable for 6 motors 15
Motor cable for single motors 16

N
NA 5

P
Product description 9
Purpose 7

R
RDC 6
RDC box 12
RDC box (cascadable) 12
RDC box, connection examples 9
RDC cover (cascadable), installation 21
Recommissioning 21
Resolver cable 14, 17
Resolver cable extensions 17

S
Safety 19
Safety instructions 5
Service, KUKA Roboter 23
Start-up 21
Support request 23

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