ROBOT
(V)KR 6, 15, 16; ...K; ...KS; ...arc
(V)KR 30, 60--3; ...HA; ...KS
(V)KR 150, 180, 210; (V)KR 150, 180, 210, 240--2; ..K
(V)KR 100, 140, 200 comp
(V)KR 100 P; (V)KR 100, 120--2 P
(V)KR 100, 180--2 PA
(V)KR 150 W
(V)KR 360
Description
KIR--Installations
Issued: 24 Feb 2005
Version: 02
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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
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1
Installation instructions KR 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Circuit diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1
Cables for KR 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2
Cables for KR 6, 16, KR 30 and variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3
Cables for KR 30 KS, KR 150, 180, 210, KR 2000--2,
KR 2004 comp and KR 360 with variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Description
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1
Valid for
General
(V)KR 6; ...KS; ...EX; ...arc
(V)KR 15
(V)KR 16; ...K; ...KS; ...EX; ...CR; ...arc
(V)KR 30--3; (V)KR 60--3; (V)KR 60 L45--3; (V)KR 60 L30--3
(V)KR 30 L16
(V)KR 30 HA; (V)KR 60 HA; (V)KR 60 L45 HA; (V)KR 60 L30 HA
(V)KR 30--3 KS, (V)KR 60--3 KS, (V)KR 60 L45--3 KS, (V)KR 60 L30--3 KS
(V)KR 150; (V)KR 150 L130; (V)KR 150 L110; ...--2; (V)KR 150 W
(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--2; (V)KR 240 L210--2; (V)KR 240 L180--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 150 L130 K; (V)KR 180 L100 K; ...--2
(V)KR 210 K; (V)KR 210 L180 K; (V)KR 210 L150 K; ...--2
(V)KR 100 P; (V)KR 100, 120--2 P
(V)KR 100, 180--2 PA
(V)KR 360
General
The robot can be equipped with the software option Cooperating Robots. In order to be able
to visualize which robot is currently active, a lamp is activated; this lamp is mounted on the
robot and connected to control cable A 3 via an adapter cable. If the adapter cable is not connected, the robot cannot be moved because the enabling signal is not received.
A detailed description of the functional principle of the software package can be found in the
corresponding software documentation module.
This option is available for Series KR 15, KR 30 and KR 150, 180, 210, 240 robots and their
variants. It includes, in addition to the software, the relevant cable set for the robot
installations (Fig. 1) and the connecting cable (5) from the control cabinet to the robot. The
lamp (1) is mounted, by means of the holder (2), on the fastening screws (3) for the
supplementary load on the arm (4) of the robot. The adapter cable and lamp are connected
via the adapter to the connector of control cable A 3.
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Description
1
2
3
4
1 Lamp
2 Holder
3 Fastening screws
4 Arm
5 Data cable from KIR connecting cable set
Fig. 1 Installation situation (example: KR 210)
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1.1
General (continued)
Installation instructions KR 15
The following installation instructions apply to the KR 15 robot.
If work is to be carried out on an operable robot, the main switch on the control
cabinet must be turned to the OFF position and secured with a padlock to
prevent unauthorized persons from switching it on again.
D Connection
(1)
Remove four screws (Fig. 2/3) from the RDC box and take off cover (2).
(2)
Remove blanking gland (1).
(3)
Insert cable gland (5) and pull in cable.
(4)
Connect wires (4) in accordance with the wiring diagram. Use Interconnectron tool
(B202) for installation.
(5)
Route cable and tighten cable gland (5).
(6)
Fasten cover (2) with four screws (3).
X31
Wiring diagram
Connector X31
Lamp H1
Pin
Pin
Wire
Wire
1
17
1
2
Fig. 2 Connection for lamp H1
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Description
Circuit diagrams
2.1
Cables for KR 15
WIRING DIAGRAM
Connector
Pin
Wire
Strip
0.25 mm2
0.25 mm2
0.75 mm2
0.75 mm2
Wire
GY
PK
Connector Pin
Signal designation
BN
BU
0.25 mm2
0.25 mm2
YE
BN
0.25 mm2 WH
0.25 mm2 GN
0.25 mm2 BU
0.25 mm2 RD
H1
00--123--129
Fig. 3 Adapter cable for KR 15
View X
WIRING DIAGRAM
Connector Pin
Wire
Strip
Wire
Connector Pin
Signal designation
0.25 mm2 BN
0.25 mm2 WH
0.25 mm2 YE
0.25 mm2 GN
0.25 mm2
PK
mm2
GY
0.25 mm2
0.25 mm2
BU
0.25
RD
0.25 mm2 BK
0.25 mm2
VT
Fig. 4 Control cable, axis 3, for KR 15
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2.2
Circuit diagrams (continued)
Cables for KR 6, 16, KR 30 and variants
WIRING DIAGRAM
Connector
Pin
Wire
Strip
0.25 mm2
0.25 mm2
0.75 mm2
Wire
GY
BU
0.25 mm2
0.25 mm2
YE
BN
WH
0.25 mm2
Pin
Signal designation
PK
BN
0.75 mm2
0.25 mm2
0.25 mm2
0.25 mm2
Connector
GN
BU
RD
H1
00--123--132
Fig. 5 Adapter cable
View X
WIRING DIAGRAM
Connector
Pin
Wire
Strip
0.25 mm2
0.25 mm2
Wire
Connector Pin
Signal designation
BN
WH
0.25 mm2 YE
0.25 mm2
GN
0.25 mm2
PK
0.25 mm2 GY
0.25 mm2 RD
0.25 mm2 BU
0.25 mm2 BK
0.25 mm2 VT
Lamp
Lamp
Fig. 6 Control cable, axis 3
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Description
2.3
Cables for KR 30 KS, KR 150, 180, 210, KR 2000--2,
KR 2004 comp and KR 360 with variants
WIRING DIAGRAM
Connector
Pin
Wire
Strip
Wire
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
YE
BN
WH
0.25 mm2 GY
0.25 mm2 PK
0.75 mm2 BN
0.75 mm2 BU
Connector Pin
Signal designation
GN
BU
0.25 mm2 RD
H1
00--123--128
Fig. 7 Adapter cable
View X
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
0.25 mm2
BK
0.25 mm2 VT
Fig. 8 Control cable, axis 3
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Circuit diagrams (continued)
View of connector
View of connector
Coding hole
Coding pin
STECKER PIN
plug
STECKER PIN DRAHT
plug
wire
X21
SIGNALBEZEICHNG.
signal designation
X31
2
3
4
5
6
7
8
9
10
11
12
13
14
15
ws
bn
gn
Twisted
YE
Twisted
gr
rs
bl
rt
sw
vio
rt/bl
gy/pk
Twisted
2
3
Twisted
4
5
6
Twisted
pk
Twisted
7
8
Twisted
bu
rd
Twisted
Twisted
bk
vt
Twisted
9
10
11
Twisted
rd/bu
gy/pk
Twisted
13
14
Twisted
wh/gn
bn/gn
Twisted
15
ws/gn
bn/gn
wh
bn
gn
ye
gy
12
Gehuse
housing
Gehuse
housing
1
ws/ge
17
ge/bn
wh/ye
Twisted
ye/bn
Twisted
24 V Lampe/lamp
17
0 V Lampe/lamp
Fig. 9 Data cable from KIR connecting cable set
1
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