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KR C1
Kuka KR C1 User Manual
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are
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7
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R2.2.8
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R2
R1
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Fig.
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Con
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7
9
Table of Contents
Default Chapter
3
Table of Contents
3
1 Control Cabinet
5
General Maintenance
5
Cleaning
5
Structure
6
Processor Unit
6
Power Unit
7
Cooling by Heat Exchanger
11
Cooling by Air Conditioner
12
Peripheral Interfaces, General
12
Power Unit Interfaces
12
Power Unit Equipment
12
Replacing the Basic and Power Modules
12
2 Basic Modules and Servo Power Modules
13
Basic Module PM0--600
14
Axis Power Module PM 1--600
14
Power Supply Module PM0--600
15
Axis Power Module PM2--600/25/16
15
Individual Axis Power Module PM1--600/25
16
Individual Axis Power Module PM1--600/16
16
Connection Diagram for PM 0 + PM2 (Without PM6--600)
17
Jumpering of the Motor Connectors
18
Current Regulator Programming ($G_COE_CUR) of the Powermodule
19
3 Safety Logic Module FE201
21
Function Blocks
21
Settings
21
View FE201 Version a
22
View FE201 Version B
23
EMERGENCY STOP and Safety Circuit
24
Drives ON/OFF Circuit
25
Operating Mode Switchover
26
4 Individual Axis Switch--Off for External Axes
27
Fault with Power Unit PM0--600 Series "1" and "2
28
5 Connector Panel / Peripheral Interfaces
36
Explanation of Symbols
37
Interface Signals X11
37
Emergency Stop Circuit
39
Supply Connection X1, Service Socket X01
41
Motor Connector X20, Axes 1 to
42
Motor Connectors X7.1, X7.2, X7.3 (Optional)
43
Peripheral Connector X11
44
Peripheral Connector X12 (Optional)
48
CAN Bus Sub--D Connector X801
50
Ethernet Sub--D Connector X802
50
Data Cable Connector X21, Axes 1 to 8
51
Data Cable Connector X8, Axes 7 to 12 (Optional)
52
KCP Connector X19
53
Jumpers for Stand--Alone Operation X11
54
6 Digital Servo Electronics (DSEAT)
56
Description of the DSEAT
56
Schematic Diagram of the Controller Architecture
56
Block Diagram of the DSEAT
57
DSEAT Functions
58
Configuration of the DSEAT
59
Replacing the DSEAT Card
59
Function Test of the DSEAT Card
60
Visual Inspection of the Leds
60
Function Test of the DSEAT with the "DSERDW" Diagnostic Tool
60
7 Resolver--To--Digital Converter (RDC)
61
Description of the RDC
61
Block Diagram of the RDC
62
Operating Principle of the RDC
63
Configuration of the RDC
65
RDC Interfaces
65
Lumberg Connectors on RDC Per Axis for Resolver Cables X1 to X8
66
Removing/Installing the RDC
66
Function Test of the RDC
67
Function Test: Dial Gauge Mastering
67
Function Test of the RDC with the "DSERDW" Tool
67
Displaying the RDC Table
67
Checking RDC Communication
67
Simulating EMT Mastering
68
RDC Calibration
69
Memory Test
70
5
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Kuka KR C1 Specifications
General
Brand
Kuka
Model
KR C1
Category
Control Systems
Language
English
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