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KUKA


Expert Documentation

KUKA Roboter GmbH

KUKA Motor Data
Technical Data Configuration Data

Issued: 16.02.2010

Version: Motordaten V4 en

/> KUKA Motor Data

? Copyright 2010 KUKA Roboter GmbH Zugspitzstra?e 140 D-86165 Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the 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, however, 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: Label:

Pub KUKA.Motordaten en Motordaten V4

Book structure: KUKA.Motordaten V0.8

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Contents

Contents
1
1.1 1.2

Introduction ..................................................................................................
Target group .............................................................................................................. Representation of warnings and notes ......................................................................

5
5 5

2
2.1 2.2 2.3

Product description .....................................................................................
Nomenclature of motor designations ......................................................................... M-n characteristic ....................................................................................................... Standard connector pin allocations ............................................................................

7
7 8 9

3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Motor data for MG_8_40_45_S0 ................................................................. Motor data for Mx_11_60_44_S0 ................................................................ Motor data for Mx_16_60_42_S0 ................................................................ Motor data for MG_40_80_45_S0 ............................................................... Motor data for Mx_60_110_30_S0 .............................................................. Motor data for MG_64_110_35_S0 ............................................................. Motor data for Mx_110_130_40_S0 ............................................................ Motor data for MG_120_110_25_S0 ........................................................... Motor data for Mx_160_130_30_S0 ............................................................ Motor data for Mx_180_130_40_S6_cool ................................................... Motor data for Mx_180_180_40_S0 ............................................................ Motor data for Mx_180_180_40_S6_cool ................................................... Motor data for MG_220_130_25_S0 ........................................................... Motor data for ME_228_180_30_S0 ............................................................ Motor data for ME_250_180_37_S0 ............................................................ Motor data for Mx_260_180_30_S0 ............................................................ Motor data for Mx_360_180_30_S0 ............................................................ Motor data for Mx_480_180_30_S0 ............................................................ KUKA Service ..............................................................................................

11 13 17 21 23 27 29 33 35 39 43 47 51 53 55 57 61 65 69
69 69

21.1 Requesting support .................................................................................................... 21.2 KUKA Customer Support ...........................................................................................

Index .............................................................................................................

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KUKA Motor Data

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1. Introduction

1
1.1

Introduction
Target group
This documentation is aimed at users with the following knowledge and skills:
? ? ? ? ?

Advanced KRL programming skills Advanced knowledge of the robot controller system Advanced knowledge of machine data Advanced knowledge of external axes Advanced knowledge of machine design

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 obtained directly from our subsidiaries.

1.2
Safety

Representation of warnings and notes
Warnings marked with this pictogram are relevant to safety and must be observed. Danger! This warning means that death, severe physical injury or substantial material damage will occur, if no precautions are taken. Warning! This warning means that death, severe physical injury or substantial material damage may occur, if no precautions are taken. Caution! This warning means that minor physical injuries or minor material damage may occur, if no precautions are taken.

Notes

Notes marked with this pictogram contain tips to make your work easier or references to further information. Tips to make your work easier or references to further information.

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KUKA Motor Data

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2. Product description

2
2.1

Product description
Nomenclature of motor designations

Description

Fig. 2-1: Nomenclature of motor designations Item 1 2 Description M = Motor G = Smooth shaft E = Involute toothing x = Motor variant with smooth shaft or shaft with involute toothing Static torque [Nm] * 10 Flange height z [mm] Speed [rpm] / 100 Type suffix

3 4 5 6

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KUKA Motor Data

2.2

M-n characteristic
The values of the motors describe a motor characteristic.

Example

Fig. 2-2: M-n characteristic 1 2 3 4 5 6 7 Acceleration torque to break speed Characteristic under continuous loading Rated speed Break speed Rated torque Maximum torque at rated speed Static torque

Example: ME_228_180_30_S0 (>>> 16 "Motor data for ME_228_180_30_S0" page 53) Technical data Static torque Rated speed Rated torque Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed 60 Nm 2,500 rpm 21 Nm 22.8 Nm 3,000 rpm 8.5 Nm

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2. Product description

2.3

Standard connector pin allocations
All the connections on the motors are screwed plug-and-socket connections.

Connector XM

The connector is a 6-contact Interconnectron connector.

Fig. 2-3: Connector pin allocation XM Connector size 1 Pin 1 2 3 4 5 6 Connector XP Connector size 1.5 Pin U V + W Assignmen t U V GND Brake + Brake W

The connector is a 12-contact Interconnectron connector.

Fig. 2-4: Connector pin allocation XP Pin 1 2 7 8 9 10 11 12 Assignment S2 S4 R2 KTY KTY R1 S1 S3 Color BU YE YE/WH RD/WH RD BK Blue Yellow Yellow/White Red/White Red Black

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3. Motor data for MG_8_40_45_S0

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Motor data for MG_8_40_45_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-131-269 Smooth No 1 00-133-492 Smooth, with feather key MG_8_40_45_S0

Ordering data

The KSD 08 servo drive module can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 08 0.8 Nm 1.69 A 0.47 4,500 rpm 0.6 Nm 0.283 kW 1.4 A 2.5 Nm 6A 0.35 kg x cm? 1.1 Nm 560 V 2 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM

2.3 Nm 4,500 rpm 2.3 Nm 6 Nm

4,500 rpm KSD_08_MF_S_1 8A 75%

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

0.4335 0.47 1.69 A (1.8 A) {N1, D3} 10 ms 8J 0.044 J/s 1.5 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions l a z b w v wl zl c Connector size 175 mm 55 mm 40 mm 64 mm 9k6 20 mm 2 mm 5.4 mm 1

Fig. 3-1: Motor dimensions
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4. Motor data for Mx_11_60_44_S0

4

Motor data for Mx_11_60_44_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-115-927 ME_11_60_44_ S0 Involute No 1 00-136-925 MG_11_60_44_ S0 Smooth

Ordering data

The KSD 08 servo drive module can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 08 1.1 Nm 1.7 A 0.67 4,400 rpm 0.8 Nm 0.4 kW 1.3 A 4.5 Nm 7A 0.71 kg x cm? 1.1 Nm 560 V 2.9 kg IP64 or IP65

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM

4 Nm 3,600 rpm 2.4 Nm 9 Nm

4,400 rpm KSD_08_ME_S7 8A 87%

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

0.65 0.67 1.7 A {N1, D3} 10 ms 114 J 0.63 J/s 2.9 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 175 mm 72 mm 60 mm 75 mm W10 x 0.8 x 30 x 11 x 7h 15 mm 23 mm 3 mm 6.5 mm 1 14k6 30 mm Smooth

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4. Motor data for Mx_11_60_44_S0

Fig. 4-1: Motor dimensions

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5. Motor data for Mx_16_60_42_S0

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Motor data for Mx_16_60_42_S0
Version Drawing number Article number Order designation Shaft Cool variant 394.10001.601.22-00 00-120-420 ME_16_60_42_ S0 Involute No KSD 08 1.6 Nm 2A 0.8 4,200 rpm 1.2 Nm 0.5 kW 1.6 A 6.4 Nm 8A 0.98 kg x cm? 1.1 Nm 560 V 4 kg IP64 or IP65 1 394.10001.601.24-00 00-125-537 MG_16_60_42_ S0 Smooth

Ordering data

Technical data

Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM $KT_MOT
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5.6 Nm 3,600 rpm 4.8 Nm 11 Nm

4,200 rpm KSD_08_ME0_S7 8A 100% 0.82
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KUKA Motor Data

$KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

0.8 2A {N1, D3} 10 ms 114 J 0.63 J/s 2.9 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 200 mm 72 mm 60 mm 75 mm W10 x 0.8 x 30 x 11 x 7 h 15 mm 23 mm 3 mm 6.5 mm 1 14k6 30 mm Smooth

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5. Motor data for Mx_16_60_42_S0

Fig. 5-1: Motor dimensions

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KUKA Motor Data

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6. Motor data for MG_40_80_45_S0

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Motor data for MG_40_80_45_S0
Version Drawing number Article number Order designation Shaft Cool variant 1 394.100-01.601.45-00 00-136-895 MG_40_80_45_S0 Smooth No

Ordering data

The KSD 16 and KSD 32 servo drive modules can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification 9.6 Nm 16 A 1.41 kg x cm? 3.2 Nm 560 V 8.3 kg IP64 or IP65 KSD 16 4 Nm 6.3 A 0.635 4,500 rpm 3 Nm 1.4 kW 4.9 A 12 Nm 20 A KSD 32

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM

9 Nm 3,500 rpm 7.5 Nm 17.4 Nm

10.5 Nm 3,000 rpm

4,500 rpm KSD_16_M4_4 5 16 A 100% KSD_32_M4_4 5 32 A 62%

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

0.66 0.635 6.3 A {N1, D3} 10 ms 74 J 0.41 J/s 5.40 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Dimensions l a z b w v wl zl c Connector size 245 mm 96 mm 80 mm 100 mm 19k6 40 mm 3 mm 7 mm 1

Fig. 6-1: Motor dimensions
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7. Motor data for Mx_60_110_30_S0

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Motor data for Mx_60_110_30_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-115-926 ME_60_110_30 _S0 Involute No 1 00-127-727 MG_60_110_30 _S0 Smooth

Ordering data

The KSD 08 servo drive module can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 08 6 Nm 4.5 A 1.33 3,000 rpm 4.7 Nm 1.5 kW 3.7 A 9.6 Nm 8A 9.1 kg x cm? 8 Nm 560 V 8.1 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM

8.8 Nm 2,900 rpm 6.5 Nm 27 Nm

3,000 rpm KSD_08_MD0_S7 8A 100%

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.21 1.33 4.5 A {N1, D4} 10 ms 845 J 5 J/s 11 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 185 mm 126 mm 110 mm 130 mm W14 x 0.8 x 30 x 16 x 7h 20 mm 40 mm 3.5 mm 10 mm 1 19k6 Smooth

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7. Motor data for Mx_60_110_30_S0

Fig. 7-1: Motor dimensions

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KUKA Motor Data

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8. Motor data for MG_64_110_35_S0

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Motor data for MG_64_110_35_S0
Version Drawing number Article number Order designation Shaft Cool variant 1 394.100-01.601.46-00 00-136-896 MG_64_110_35_S0 Smooth No

Ordering data

The KSD 32 servo drive module can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 32 6.4 Nm 8A 0.80 3,500 rpm 4.3 Nm 1.6 kW 5.9 A 17.3 Nm 25.3 A 3.74 kg x cm? 13 Nm 560 V 11.2 kg IP64 or IP65

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM $KT_MOT
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15 Nm 2,700 rpm 12.6 Nm 34.8 Nm

3,500 rpm KSD_32_M11_45 32 A 78% 0.77
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KUKA Motor Data

$KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

0.8 8A {N1, D3} 10 ms 400 J 2.2 J/s 17.5 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Dimensions l a z b w v wl zl c Connector size 228 mm 126 mm 110 mm 130 mm 24 50 mm 3.5 mm 9 mm 1

Fig. 8-1: Motor dimensions

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9. Motor data for Mx_110_130_40_S0

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Motor data for Mx_110_130_40_S0
Version Drawing number Article number Order designation Shaft Cool variant 394.10001.601.18-00 00-115-925 ME_110_130_4 0_S0 Involute No 1 394.10001.601.23-00 00-121-216 MG_110_130_4 0_S0 Smooth

Ordering data

The KSD 16 servo drive module can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 16 11 Nm 9.2 A 1.2 4,000 rpm 5.8 Nm 2.4 kW 5.4 A 18.9 Nm 16 A 24 kg x cm? 11 Nm 560 V 13.8 kg IP64 or IP65

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM
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16.5 Nm 3,000 rpm 11 Nm 54 Nm

4,000 rpm KSD_16_MH_S7 16 A 100%
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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.16 1.2 9.2 A {N1, D4} 10 ms 1908 J 30.8 J/s 22 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 203 mm 155 mm 130 mm 165 mm W25 x 0.6X x 30 x 40 x 7h 31 40 mm 3.5 mm 11 mm 1 24k6 50 mm Smooth

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9. Motor data for Mx_110_130_40_S0

Fig. 9-1: Motor dimensions

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KUKA Motor Data

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10. Motor data for MG_120_110_25_S0

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Motor data for MG_120_110_25_S0
Version Drawing number Article number Order designation Shaft Cool variant 1 394.100-01.601.47-00 00-136-897 MG_120_110_25_S0 Smooth No

Ordering data

The KSD 32 servo drive module can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD1-32 12 Nm 11 A 1.09 Nm/A 2,500 rpm 8 Nm 2.1 kW 7.5 A 32 Nm 31 A 6.84 kg x cm? 13 Nm 560 V 16.8 kg IP64 or IP65

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM $KT_MOT
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28 Nm 2,000 rpm 22 Nm 77.2 Nm

2,500 rpm KSD_32_M12_30 32 A 96% 1.06
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KUKA Motor Data

$KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.09 11 A {N1, D4} 10 ms 400 J 2.2 J/s 17.5 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions l a z b w v wl zl c Connector size 292 mm 126 mm 110 mm 130 mm 24k6 50 mm 3.5 mm 9 mm 1

Fig. 10-1: Motor dimensions

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11. Motor data for Mx_160_130_30_S0

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Motor data for Mx_160_130_30_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-131-493 ME_160_130_3 0_S0 Involute No 1 00-136-891 MG_160_130_3 0_S0 Smooth

Ordering data

The KSD 32 servo drive module can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 32 16 Nm 14 A 1.14 3,000 rpm 10 Nm 3.1 kW 9.3 A 36.5 Nm 32 A 35.9 kg x cm? 16 Nm 560 V 16.5 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM

32 Nm 3,000 rpm 32 Nm 104 Nm

3,000 rpm KSD_32_MC0_S7 32 A 100%

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.166 1.14 14 A {N1, D4} 10 ms 2 500 J 41 J/s 13 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 245 mm 155 mm 130 mm 165 mm W25 x 0.6 x 30 x 40 x 7h 36 mm 58 mm 3.5 mm 11 mm 1 32k6 Smooth

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11. Motor data for Mx_160_130_30_S0

Fig. 11-1: Motor dimensions

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KUKA Motor Data

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12. Motor data for Mx_180_130_40_S6_cool

12

Motor data for Mx_180_130_40_S6_cool
Version Drawing number Article number Order designation Shaft Cool variant 00-113-709 ME_180_130_4 0_S6_cool Involute 1 00-137-217 MG_180_130_4 0_S6_cool Smooth

Ordering data

Yes

The KSD 16 servo drive module can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 16 11 Nm 9.3 A 1.26 4,000 rpm 5.5 Nm 2.3 kW 5.1 A 18.9 Nm 16 A 26 kg x cm? 11 Nm 560 V 15.9 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM

16.5 Nm 3,000 rpm 8 Nm -

4,000 rpm KSD_16_MH_A 16 A 100%

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.25 1.26 8.7 A {N1, D3} 10 ms 1650 J 27 J/s 12 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 214 mm 155 mm 130 mm 165 mm W25 x 0.6 x 30 x 40 x 7h 31 mm 40 mm 3.5 mm 11 mm 1 Smooth

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12. Motor data for Mx_180_130_40_S6_cool

Fig. 12-1: Motor dimensions

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KUKA Motor Data

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13. Motor data for Mx_180_180_40_S0

13

Motor data for Mx_180_180_40_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-117-606 ME_180_180_4 0_S0 Involute No 1 00-129-492 MG_180_180_4 0_S0 Smooth

Ordering data

The KSD 48 and KSD 32 servo drive modules can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification 48 Nm 48 A 65 kg x cm? 18 Nm 560 V 22.5 kg IP64 or IP65 KSD 48 18 Nm 15 A 1.2 4,000 rpm 7.1 Nm 3.0 kW 7.3 A 38 Nm 32 A KSD 32

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX

40 Nm 2,850 rpm 18 Nm 130 Nm

32 Nm 3,000 rpm

4,000 rpm KSD_48_MG1al l 48 A KSD_32_MG1_ 7 32 A

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KUKA Motor Data

$CURR_LIM $KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX [J] $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

100% 0.9743 1.2 15 A {N1, D4} 10 ms 6 736 J 37 J/s 23 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 214 mm 192 mm 180 mm 215 mm W32 x 0.8 x 30 x 38 x 7h 40 50 mm 4 mm 14 mm 1 32k6 80 mm Smooth

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13. Motor data for Mx_180_180_40_S0

Fig. 13-1: Motor dimensions

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

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14. Motor data for Mx_180_180_40_S6_cool

14

Motor data for Mx_180_180_40_S6_cool
Version Drawing number Article number Order designation Shaft Cool variant 00-113-707 ME_180_180_4 0_S6_cool Involute 1 00-137-220 MG_180_180_4 0_S6_cool Smooth

Ordering data

Yes

The KSD 48 servo drive module can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 48 18 Nm 16 A 1.13 4,000 rpm 7.1 Nm 3.0 kW 7.6 A 45 Nm 48 A 66 kg x cm? 18 Nm 560 V 22.5 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM

40 Nm 3,000 rpm 18 Nm -

4,000 rpm KSD_48_MG1_S 48 A 100%

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

0.94 1.13 16 A {N1, D4} 10 ms 6 855 J 38 J/s 21 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 218 mm 192 mm 180 mm 215 mm W32 x 0.8 x 30 x 38 x 7h 40 mm 50 mm 4 mm 14 mm Smooth

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14. Motor data for Mx_180_180_40_S6_cool

Fig. 14-1: Motor dimensions

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KUKA Motor Data

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15. Motor data for MG_220_130_25_S0

15

Motor data for MG_220_130_25_S0
Version Drawing number Article number Order designation Shaft Cool variant 1 394.100-01.601.48-00 00-136-898 MG_220_130_25_S0 Smooth No

Ordering data

The KSD 64 servo drive module can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 64 22 Nm 22.5 A 0.98 2,500 rpm 6.5 Nm 1.7 kW 7A 52 Nm 64 A 25 kg x cm? 22 Nm 560 V 25.7 kg IP64 or IP65

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM $KT_MOT
Issued: 16.02.2010 Version: Motordaten V4 en

50 Nm 2,000 rpm 46 Nm 87 Nm

2,500 rpm KSD_64_M22_30 64 A 100% 0.98
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KUKA Motor Data

$KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

0.98 22.5 A {N1, D4} 10 ms 1 400 J 7.78 J/s 33.0 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions l a z b w v wl zl c Connector size 303 mm 155 mm 130 mm 165 mm 32k6 58 mm 3.5 mm 11 mm 1.5

Fig. 15-1: Motor dimensions

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16. Motor data for ME_228_180_30_S0

16

Motor data for ME_228_180_30_S0
Version Drawing number Article number Order designation Shaft Cool variant 1 00-119-766 ME_228_180_30_S0 Involute No

Ordering data

The KSD 48 and KSD 32 servo drive modules can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification 62 Nm 48 A 94 kg x cm? 23 Nm 560 V 26 kg IP64 or IP65 KSD 48 22.8 Nm 16 A 1.58 3,000 rpm 8.5 Nm 2.7 kW 7A 45 Nm 32 A KSD 32

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM $KT_MOT
Issued: 16.02.2010 Version: Motordaten V4 en

60 Nm 2,500 rpm 21 Nm 161 Nm

41 Nm 3,200 rpm

3,750 rpm KSD_48_MIaII 48 A 100% 1.3
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KSD_32_MI_7 32 A

KUKA Motor Data

$KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX [J] $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.58 16.5 A {N1, D4} 10 ms 7 459 J 41 J/s 33 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions l a z b w v wl zl c Connector size 240 mm 192 mm 180 mm 215 mm W32 x 0.8 x 30 x 38 x 7h 40 mm 50 mm 4 mm 14 mm 1

Fig. 16-1: Motor dimensions

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17. Motor data for ME_250_180_37_S0

17

Motor data for ME_250_180_37_S0
Version Drawing number Article number Order designation Shaft Cool variant 1 00-119-768 ME_250_180_37_S0 Involute No

Ordering data

The KSD 48 servo drive module can be used for the motor. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 48 25 Nm 17.5 A 1.43 3,750 rpm 15 Nm 5.9 kW 12 A 62 Nm 48 A 118 kg x cm? 23 Nm 560 V 29 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA] $SERVOFILE $CURR_MAX $CURR_LIM $KT_MOT
Issued: 16.02.2010 Version: Motordaten V4 en

58 Nm 2,800 rpm 25 Nm 158 Nm

3,750 rpm KSD_48_MK_S7_0 48 A 100% 1.35
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KUKA Motor Data

$KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.43 17.5 A {N1, D4} 10 ms 7 570 J 42 J/s 33 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions l a z b w v wl zl c Connector size 266 mm 192 mm 180 mm 215 mm W32 x 0.8 x 30 x 38 x 7h 40 mm 50 mm 4 mm 14 mm 1

Fig. 17-1: Motor dimensions

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18. Motor data for Mx_260_180_30_S0

18

Motor data for Mx_260_180_30_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-119-767 ME_260_180_3 0_S0 Involute No 1 00-136-892 MG_260_180_3 0_S0 Smooth

Ordering data

The KSD 48 and KSD 32 servo drive modules can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification 67 Nm 48 A 94 kg x cm? 27 Nm 560 V 28 kg IP64 or IP65 KSD 48 26 Nm 16.5 A 1.58 3,000 rpm 12 Nm 3.8 kW 8.5 A 44 Nm 32 A KSD 32 25.2 Nm 16 A

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX 48

62 Nm 2,000 rpm 20 Nm 169 Nm

43 Nm 2,600 rpm

3,000 rpm KSD_48_MI1all KSD_32_MI1_7 32

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

$CURR_LIM $KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

100 % 1.4 1.58 16.5 A {N1, D4} 10 ms 7 235 J 40 J/s 33 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 240 mm 192 mm 180 mm 215 mm W32 x 0.8 x 30 x 38 x 7h 40 50 mm 4 mm 14 mm 1 38k6 80 mm Smooth

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18. Motor data for Mx_260_180_30_S0

Fig. 18-1: Motor dimensions

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

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19. Motor data for Mx_360_180_30_S0

19

Motor data for Mx_360_180_30_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-131-492 ME_360_180_3 0_S0 Involute No 1 00-136-893 MG_360_180_3 0_S0 Smooth

Ordering data

The KSD 64 servo drive module can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 64 36 Nm 26.7 A 1.35 3,000 rpm 22 Nm 6.9 kW 17.3 A 82 Nm 64 A 118 kg x cm? 36 Nm 560 V 32 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM 68 Nm 2,500 rpm 43 Nm 241 Nm

3,000 rpm KSD_64_MA0_S7 64 A 100%

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.33 1.35 26.7 A {N1, D4} 10 ms 7 650 J 127 J/s 32 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 285 mm 190 mm 180 mm 215 mm W32 x 0.8 x 30 x 38 x 7h 50 mm 76.5 mm 4 mm 14 mm 1.5 38k6 80 mm Smooth

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19. Motor data for Mx_360_180_30_S0

Fig. 19-1: Motor dimensions

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

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20. Motor data for Mx_480_180_30_S0

20

Motor data for Mx_480_180_30_S0
Version Drawing number Article number Order designation Shaft Cool variant 00-131-491 ME_480_180_3 0_S0 Involute No 1 00-136-894 MG_480_180_3 0_S0 Smooth

Ordering data

The KSD 64 servo drive module can be used for both motor types. Technical data Servo drive module Static torque Standstill current Torque constant (KT0) Rated speed Rated torque Rated power Rated current Maximum torque Maximum current Moment of inertia (drive shaft) Brake holding torque (120 °C) Intermediate circuit voltage Weight Protection classification KSD 64 48 Nm 25.5 A 1.88 3,000 rpm 26.5 Nm 8.6 kW 15 A 112 Nm 64 A 170 kg x cm? 48 Nm 560 V 42 kg IP64

Caution! Do not subject the shaft or bearing of the motors to mechanical impacts. Axial forces can cause damage to the motor. Axial forces acting on the shaft end are therefore not permissible for this motor type! Worst case value for the design Acceleration torque to break speed Break speed Maximum torque at rated speed Maximum braking torque incl. short-circuit braking Configuration data $VEL_AXIS_MA $SERVOFILE $CURR_MAX $CURR_LIM 85 Nm 2,200 rpm 24 Nm 274 Nm

3,000 rpm KSD_64_MA01_S7 64 A 100%

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

$KT_MOT $KT0_MOT $CURR_MON $RAT_MOT_ENC $RAISE_T_MOT $BRK_ENERGY_MAX $BRK_COOL_OFF_COEFF $BRK_TORQUE Load-specific configuration data

1.72 1.88 25.5 A {N1, D4} 10 ms 10 500 J 175 J/s 32 Nm

The load-specific configuration data must be calculated for each individual kinematic system. $G_VEL_PTP $G_VEL_CP $I_VEL_PTP $I_VEL_CP $LG_PTP $LG_CP 5…80 5…80 40…800 40…800 0.2…0.7 0.2…0.7

As a general rule, the values $G_VEL_PTP and $G_VEL_CP must be selected in the lower range for small motors and in the upper range for large motors. Motor dimensions Dimensions l a z b w v wl zl c Connector size Involute 337 mm 192 mm 180 mm 215 mm W32 x 0.8 x 30 x 38 x 7h 50 mm 76.5 mm 4 mm 14 mm 1.5 38k6 80 mm Smooth

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20. Motor data for Mx_480_180_30_S0

Fig. 20-1: Motor dimensions

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

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21. KUKA Service

21
21.1

KUKA Service
Requesting support
The KUKA Roboter GmbH documentation offers information on operation and provides assistance with troubleshooting. For further assistance, please contact your local KUKA subsidiary. Faults leading to production downtime should be reported to the local KUKA subsidiary within one hour of their occurrence.

Introduction

Information

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

Model and serial number of the robot Model and serial number of the controller Model and serial number of the linear unit (if applicable) Version of the KUKA System Software Optional software or modifications Archive of the software Application used Any external axes used Description of the problem, duration and frequency of the fault

21.2

KUKA Customer Support
KUKA Customer Support is available in many countries. Please do not hesitate to contact us if you have any questions. 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 ventas@costantini-sa.com Marand Precision Engineering Pty. Ltd. (Agency) 153 Keys Road Moorabbin Victoria 31 89 Australia Tel. +61 3 8552-0600 Fax +61 3 8552-0605 robotics@marand.com.au

Availability Argentina

Australia

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

Belgium

KUKA Automatisering + Robots N.V. Centrum Zuid 1031 3530 Houthalen Belgium Tel. +32 11 516160 Fax +32 11 526794 info@kuka.be www.kuka.be KUKA Roboter do Brasil Ltda. Avenida Franz Liszt, 80 Parque Novo Mundo Jd. Guan?? CEP 02151 900 S?o Paulo SP Brazil Tel. +55 11 69844900 Fax +55 11 62017883 info@kuka-roboter.com.br Robotec S.A. (Agency) Santiago de Chile Chile Tel. +56 2 331-5951 Fax +56 2 331-5952 robotec@robotec.cl www.robotec.cl KUKA Flexible Manufacturing Equipment (Shanghai) Co., Ltd. Shanghai Qingpu Industrial Zone No. 502 Tianying Rd. 201712 Shanghai P.R. China Tel. +86 21 5922-8652 Fax +86 21 5922-8538 Franz.Poeckl@kuka-sha.com.cn www.kuka.cn KUKA Roboter GmbH Zugspitzstr. 140 86165 Augsburg Germany Tel. +49 821 797-4000 Fax +49 821 797-1616 info@kuka-roboter.de www.kuka-roboter.de

Brazil

Chile

China

Germany

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21. 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 commercial@kuka.fr www.kuka.fr KUKA Robotics, Private Limited 621 Galleria Towers DLF Phase IV 122 002 Gurgaon Haryana India Tel. +91 124 4148574 info@kuka.in www.kuka.in 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 kuka@kuka.it www.kuka.it KUKA Robotics Japan K.K. Daiba Garden City Building 1F 2-3-5 Daiba, Minato-ku Tokio 135-0091 Japan Tel. +81 3 6380-7311 Fax +81 3 6380-7312 info@kuka.co.jp KUKA Robot Automation Korea Co. Ltd. 4 Ba 806 Sihwa Ind. Complex Sung-Gok Dong, Ansan City Kyunggi Do 425-110 Korea Tel. +82 31 496-9937 or -9938 Fax +82 31 496-9939 info@kukakorea.com

India

Italy

Japan

Korea

Issued: 16.02.2010 Version: Motordaten V4 en

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KUKA Motor Data

Malaysia

KUKA Robot Automation Sdn Bhd South East Asia Regional Office No. 24, Jalan TPP 1/10 Taman Industri Puchong 47100 Puchong Selangor Malaysia Tel. +60 3 8061-0613 or -0614 Fax +60 3 8061-7386 info@kuka.com.my KUKA de Mexico S. de R.L. de C.V. Rio San Joaquin #339, Local 5 Colonia Pensil Sur C.P. 11490 Mexico D.F. Mexico Tel. +52 55 5203-8407 Fax +52 55 5203-8148 info@kuka.com.mx KUKA Sveiseanlegg + Roboter Bryggeveien 9 2821 Gj?vik Norway Tel. +47 61 133422 Fax +47 61 186200 geir.ulsrud@kuka.no KUKA Roboter Austria GmbH Vertriebsbüro ?sterreich Regensburger Strasse 9/1 4020 Linz Austria Tel. +43 732 784752 Fax +43 732 793880 office@kuka-roboter.at www.kuka-roboter.at KUKA Roboter Austria GmbH Spólka z ograniczona odpowiedzialnoscia Oddzial w Polsce Ul. Porcelanowa 10 40-246 Katowice Poland Tel. +48 327 30 32 13 or -14 Fax +48 327 30 32 26 ServicePL@kuka-roboter.de

Mexico

Norway

Austria

Poland

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21. KUKA Service

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 kuka@mail.telepac.pt OOO KUKA Robotics Rus Webnaja ul. 8A 107143 Moskau Russia Tel. +7 495 781-31-20 Fax +7 495 781-31-19 kuka-robotics.ru KUKA Svetsanl?ggningar + Robotar AB A. Odhners gata 15 421 30 V?stra Fr?lunda Sweden Tel. +46 31 7266-200 Fax +46 31 7266-201 info@kuka.se KUKA Roboter Schweiz AG Riedstr. 7 8953 Dietikon Switzerland Tel. +41 44 74490-90 Fax +41 44 74490-91 info@kuka-roboter.ch www.kuka-roboter.ch KUKA Robots IB?RICA, 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 Comercial@kuka-e.com www.kuka-e.com

Russia

Sweden

Switzerland

Spain

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KUKA Motor Data

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 KUKA Robot Automation Taiwan Co. Ltd. 136, Section 2, Huanjung E. Road Jungli City, Taoyuan Taiwan 320 Tel. +886 3 4371902 Fax +886 3 2830023 info@kuka.com.tw www.kuka.com.tw 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 atika@ji-net.com www.kuka-roboter.de KUKA Roboter Austria GmbH Organisation Tschechien und Slowakei Sezemická 2757/2 193 00 Praha Horní Pocernice Czech Republic Tel. +420 22 62 12 27 2 Fax +420 22 62 12 27 0 support@kuka.cz KUKA Robotics Hungaria Kft. F? út 140 2335 Taksony Hungary Tel. +36 24 501609 Fax +36 24 477031 info@kuka-robotics.hu

Taiwan

Thailand

Czech Republic

Hungary

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21. KUKA Service

USA

KUKA Robotics Corp. 22500 Key Drive Clinton Township 48036 Michigan USA Tel. +1 866 8735852 Fax +1 586 5692087 info@kukarobotics.com www.kukarobotics.com KUKA Automation + Robotics Hereward Rise Halesowen B62 8AN UK Tel. +44 121 585-0800 Fax +44 121 585-0900 sales@kuka.co.uk

UK

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KUKA Motor Data

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Index

Index
C Connector pin allocation, control cable 9 Connector pin allocation, motor cable 9 Control cable XP 9 I Introduction 5 K KUKA Customer Support 69 M M-n characteristic 8 ME_228_180_30_S0, motor data 53 ME_250_180_37_S0, motor data 55 MG_120_110_25_S0, motor data 33 MG_220_130_25_S0, motor data 51 MG_40_80_45_S0, motor data 21 MG_64_110_35_S0, motor data 27 MG_8_40_45_S0, motor data 11 Motor cable XM 9 Mx_11_60_44_S0, motor data 13 Mx_110_130_40_S0, motor data 29 Mx_16_60_42_S0, motor data 17 Mx_160_130_30_S0, motor data 35 Mx_180_130_40_S6_cool, motor data 39 Mx_180_180_40_S0, motor data 43 Mx_180_180_40_S6_cool, motor data 47 Mx_260_180_30_S0, motor data 57 Mx_360_180_30_S0, motor data 61 Mx_480_180_30_S0, motor data 65 Mx_60_110_30_S0, motor data 23 N Nomenclature of motor designations 7 P Product description 7 S Safety instructions 5 Service, KUKA Roboter 69 Support request 69 T Target group 5 Training program 5 W Warnings 5

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