ROBOT

KR QUANTEC

Assembly and Operating Instructions

Energy Supply System, Handling, A1 -- A3

Art. no. 00--202--069
00--202--070

Issued: 02 Jul 2014 Version: 03

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e Copyright 2014

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 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, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.

Translation of the original documentation

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Contents

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

2 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Wiring diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

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 Assembly and Operating Instructions

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1 Description

Valid for KR QUANTEC

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 arm. The
energy supply system consists of a dress package for A1 -- A3 for transmitting the energy,
fluids and signals typical of the technological process concerned. Each energy supply sys-
tem consists of a dress package and the “holders for energy supply system” required for at-
taching it to the robot.
The energy supply system A1 -- A3 accommodates the electric cables and hoses and en-
sures that they are guided with minimum stress throughout the permissible turning range of
axes 1 to 3. It is installed between interface A1 (Fig. 1/6) on the base frame (5) and interface
A3 (2) on the arm (12). The energy supply system consists of an application--specific dress
package (8), including a flexible tube and the interfaces A1 and A3. The dress package con-
tains control cables, cables for monitoring and power supply as well as hoses for air.
The dress package (8) with its supply lines runs from the push--in module (7) on the rear of
the base frame (5) through the hollow shaft gear unit (4) of axis 1 to the fastening point (3)
in the rotating column (9). From here, the supply lines are routed in a flexible tube (8) along
the rotating column to the link arm (10) and to the arm (12). There is a hinged clamp (1) on
the arm for mounting the clamping piece. From here, the supply lines of the dress package
run to interface A3 (2). Interface A3 is located on the left--hand side of the arm.
The dress package is fastened using the “Fastening materials” assembly. This assembly is
designed to allow the dress package to be quickly exchanged.

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 Assembly and Operating Instructions

1
12

2
11

10

9 3
8

6 4

1 Hinged clamp 7 Push--in module

2 Interface A3 8 Dress package
3 Fastening point on rotating column 9 Rotating column
4 Hollow shaft gear unit 10 Link arm
5 Base frame 11 Fastening materials
6 Interface A1 12 Arm

Fig. 1 Energy supply system, handling, A1 -- A3

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1 Description (continued)

Base frame

1 Control cable
2 Power supply 4
3 Profinet cable
4 Air line, 1/2”, blue

Arm

4
2

max. 90Âٛ

3
1 Power supply
2 Profinet cable
3 Control cable
4 Air line, 1/2”, blue

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

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 Assembly and Operating Instructions

2 Technical data
ٛ D KUKA article numbers
-- Energy supply system assy Art. no. 00--202--069
-- Dress package Art. no. 00--202--006

-- Energy supply system assy Art. no. 00--202--070

-- Dress package Art. no. 00--202--040

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

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 25 D surface--mounted
housing with crimp contacts on
base frame
A3 25--pole HAN 25 D surface--mounted
housing with crimp contacts on arm
The exact connector designation may be noted
from the parts list.
-- Protection rating IP65 in connected state

D Profinet cable, XPN1 -- XPN3

-- Configuration 2x (2x AWG22) shielded
-- Rated voltage 30 V AC/DC
-- Connection A1 Coupling, round, Han Push Pull RJ45
A3 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 -- XPP3

-- 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 Connector
A3 Connector
The exact connector designation may be noted
from the parts list.
-- Protection rating IP65 in connected state

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2 Technical data (continued)

Notice!
In the case of multi--strand cables, the derating factors specified in EN 60204--1
must be taken into account.

D Air line
-- Hose 1/2”, blue
-- Connection at interface A1 with bulkhead union, M22x1.5
-- Connection at interface A3 with bulkhead union, M22x1.5
-- Pressure max. 1.6 MPa (16 bar)

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 Assembly and Operating Instructions

3 Wiring diagrams

Wiring diagram
Connector Pin Wire Strip Wire Connector Pin Signal name
X76 GNYE GNYE X96 Grd. conductor
Control signal

Guide pin

Guide bush

X76 X96

Fig. 3 Wiring diagram, control cable, X76 -- X96

Wiring diagram

Connector Pin Wire Strip Wire Connector Pin Signal name

XPN1 XPN3
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. 4 Wiring diagram for Profinet cable, XPN1 -- XPN3

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3 Wiring diagrams (continued)

Wiring diagram

Connector Pin Wire Strip Wire Connector Pin Signal name

XPP1 1 1.5 mm2 1 XPP3 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. 5 Wiring diagram for power supply, XPP1 -- XPP3

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