库卡机器人马达参数

? Copyright 2006

KUKA Roboter GmbH

Zugspitzstra?e 140

D-86165Augsburg

Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the KUKA ROBOT GROUP.

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 de-scribed. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guaran-tee 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.

KIM-PS4-DOC

Contents Contents

1Introduction (5)

1.1Target group (5)

1.2Representation of warnings and notes (5)

2Product description (7)

2.1Overview of motor data (7)

2.2Nomenclature of motor designations (8)

2.3Motor data for ME_228_180_30_S0 (9)

2.4Motor data for ME_250_180_37_S0 (11)

2.5Motor data for MG_120_110_25_S0 (13)

2.6Motor data for MG_220_130_25_S0 (15)

2.7Motor data for MG_40_80_45_S0 (17)

2.8Motor data for MG_64_110_35_S0 (19)

2.9Motor data for MG_8_44_45_S0 (21)

2.10Motor data for Mx_11_60_44_S0 (23)

2.11Motor data for Mx_110_130_40_S0 (25)

2.12Motor data for Mx_16_60_42_S0 (27)

2.13Motor data for Mx_160_130_30_S0 (29)

2.14Motor data for Mx_180_130_40_S6_cool (31)

2.15Motor data for Mx_180_180_40_S0 (33)

2.16Motor data for Mx_180_180_40_S6_cool (35)

2.17Motor data for Mx_260_180_30_S0 (37)

2.18Motor data for Mx_360_180_30_S0 (39)

2.19Motor data for Mx_480_180_30_S0 (41)

2.20Motor data for Mx_60_110_30_S0 (43)

3Appendix (45)

3.1Standard connector pin allocations (45)

Index (47)

Motor Data

1. Introduction

1

Introduction

1.1

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

1.2Representation of warnings and notes

Safety warnings

Warnings marked with this pictogram are relevant to safety and must be ob-served.

Notes

Notes marked with this pictogram contain tips to make your work easier or ref-erences to further information.

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 pro-gram can be found at https://www.wendangku.net/doc/5f950981.html, or can be obtained directly from our subsidiaries.

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.

Tips to make your work easier or references to further information.

Motor Data

2. Product description 2Product description

2.1Overview of motor data

Motor

ME_228_180_30_S0 (>>>2.3"Motor data for

ME_228_180_30_S0" page9)

ME_250_180_37_S0 (>>>2.4"Motor data for

ME_250_180_37_S0" page11)

MG_120_110_25_S0 (>>>2.5"Motor data for

MG_120_110_25_S0" page13)

MG_220_130_25_S0 (>>>2.6"Motor data for

MG_220_130_25_S0" page15)

MG_40_80_45_S0 (>>>2.7"Motor data for

MG_40_80_45_S0" page17)

MG_64_110_35_S0 (>>>2.8"Motor data for

MG_64_110_35_S0" page19)

MG_8_44_45_S0 (>>>2.9"Motor data for

MG_8_44_45_S0" page21)

Mx_11_60_44_S0 (>>>2.10"Motor data for

Mx_11_60_44_S0" page23)

Mx_110_130_40_S0 (>>>2.11"Motor data for

Mx_110_130_40_S0" page25)

Mx_16_60_42_S0 (>>>2.12"Motor data for

Mx_16_60_42_S0" page27)

Mx_160_130_30_S0 (>>>2.13"Motor data for

Mx_160_130_30_S0" page29)

Mx_180_130_40_S6_cool (>>>2.14"Motor data for

Mx_180_130_40_S6_cool" page31)

Mx_180_180_40_S0 (>>>2.15"Motor data for

Mx_180_180_40_S0" page33)

Mx_180_180_40_S6_cool (>>>2.16"Motor data for

Mx_180_180_40_S6_cool" page35)

Mx_260_180_30_S0 (>>>2.17"Motor data for

Mx_260_180_30_S0" page37)

Mx_360_180_30_S0 (>>>2.18"Motor data for

Mx_360_180_30_S0" page39)

Mx_480_180_30_S0 (>>>2.19"Motor data for

Mx_480_180_30_S0" page41)

Mx_60_110_30_S0 (>>>2.20"Motor data for

Mx_60_110_30_S0" page43)

Motor Data

2.2Nomenclature of motor designations

Description

Fig. 2-1: Nomenclature of motor designations

Item Description

1M = Motor

2G = Smooth shaft

E = Involute toothing

3Static torque [Nm] * 10

4Flange height z [mm]

5Speed [rpm] / 100

6Type suffix

2. Product description 2.3Motor data for ME_228_180_30_S0

Ordering data

Version1

Drawing number-

Article number00-119-766

Order designation ME_228_180_30_S0

Shaft Involute

Cool variant No

Technical data

Servo drive module KSD1-48KSD1-32

Static torque22.8 Nm22.8 Nm

Standstill current16 A16 A

Torque constant (KT0) 1.58 1.58

Rated speed3000 rpm3000 rpm

Rated torque8.5 Nm8.5 Nm

Rated power 2.7 kW 2.7 kW

Rated current7 A7 A

Maximum torque62 Nm45 Nm

Maximum current48 A32 A

Moment of inertia (drive shaft)94 kg x cm294 kg x cm2

Brake holding torque (120°)23 Nm23 Nm

Intermediate circuit voltage560 V560 V

Weight26 kg26 kg

Protection rating IP64/IP65IP64/IP65

Worst case value for the design

Acceleration torque to break speed60 Nm41 Nm

Break speed2500 rpm3200 rpm

Maximum torque at rated speed21 Nm21 Nm

Maximum braking torque--

Configuration data

$VEL_AXIS_MA [rpm]37503750

$SERVOFILE KSD_48_MIaII KSD_32_MI_7

$CURR_MAX [A]4832

$CURR_LIM [%]100100

$KT_MOT 1.3 1.3

$KT0_MOT 1.58 1.58

$CURR_MON [A]16.516.5

$RAT_MOT_ENC{N1, D4}{N1, D4}

$RAISE_T_MOT [ms]1010

$BRK_ENERGY_MAX [J]74597459

$BRK_COOL_OFF_COEFF [J/s]4141

$BRK_TORQUE [Nm]3333

Motor Data

The load-specific configuration data must be calculated for each individual kin-ematic system.

Load-specific configuration data $G_VEL_PTP 30…80$G_VEL_CP 30…80$I_VEL_PTP 40…800$I_VEL_CP 40…800$LG_PTP 0.2…0.7$LG_CP 0.2…0.7

Dimensions

l 240

mm a 192 mm z 180 mm b 215

mm w W32 x 0.8 x 30 x 38 x 7h v 40 mm wl 50 mm zl 4 mm c 14 mm

Connector size 1

Fig. 2-2: Motor dimensions

2. Product description 2.4Motor data for ME_250_180_37_S0

Ordering data

Version1

Drawing number-

Article number00-119-768

Order designation ME_250_180_37_S0

Shaft Involute

Cool variant No

Technical data

Servo drive module KSD1-48

Static torque25 Nm

Standstill current17.5 A

Torque constant (KT0) 1.43

Rated speed3750 rpm

Rated torque15 Nm

Rated power 5.9 kW

Rated current12 A

Maximum torque62 Nm

Maximum current48 A

Moment of inertia (drive shaft)118 kg x cm2

Brake holding torque (120°)23 Nm

Intermediate circuit voltage560 V

Weight29 kg

Protection rating IP64

Worst case value for the design

Acceleration torque to break speed58 Nm

Break speed2800 rpm

Maximum torque at rated speed25 Nm

Maximum braking torque-

Configuration data

$VEL_AXIS_MA [rpm]3750

$SERVOFILE KSD_48_MK_S7_0

$CURR_MAX [A]48

$CURR_LIM [%]100

$KT_MOT 1.35

$KT0_MOT 1.43

$CURR_MON [A]17.5

$RAT_MOT_ENC{N1, D4}

$RAISE_T_MOT [ms]10

$BRK_ENERGY_MAX [J]7570

$BRK_COOL_OFF_COEFF [J/s]42

$BRK_TORQUE [Nm]33

Motor Data

The load-specific configuration data must be calculated for each individual kin-ematic system.

Load-specific configuration data $G_VEL_PTP 30…80$G_VEL_CP 30…80$I_VEL_PTP 40…800$I_VEL_CP 40…800$LG_PTP 0.2…0.7$LG_CP 0.2…0.7

Dimensions

l 266

mm a 192 mm z 180 mm b 215

mm w W32 x 0.8 x 30 x 38 x 7h v 40 mm wl 50 mm zl 4 mm c 14 mm

Connector size 1

Fig. 2-3: Motor dimensions

2. Product description 2.5Motor data for MG_120_110_25_S0

Ordering data

Version1

Drawing number394.100-01.601.47-00

Article number00-136-897

Order designation MG_120_110_25_S0

Shaft Smooth

Cool variant No

Technical data

Servo drive module KSD1-32

Static torque12 Nm

Standstill current11 A

Torque constant (KT0) 1.09 Nm/A

Rated speed2500 rpm

Rated torque8 Nm

Rated power 2.1 kW

Rated current7.5 A

Maximum torque32 Nm

Maximum current31 A

Moment of inertia (drive shaft) 6.84 kg x cm2

Brake holding torque (120°)13 Nm

Intermediate circuit voltage560 V

Weight16.8 kg

Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed28 Nm

Break speed2000 rpm

Maximum torque at rated speed22 Nm

Maximum braking torque77.2 Nm

Configuration data

$VEL_AXIS_MA [rpm]2500

$SERVOFILE KSD_32_M12_30

$CURR_MAX [A]32

$CURR_LIM [%]96

$KT_MOT 1.06

$KT0_MOT 1.09

$CURR_MON [A]11

$RAT_MOT_ENC{N1, D3}

$RAISE_T_MOT [ms]10

$BRK_ENERGY_MAX [J]400

$BRK_COOL_OFF_COEFF [J/s] 2.2

$BRK_TORQUE [Nm]17.50

Motor Data

The load-specific configuration data must be calculated for each individual kin-ematic system.

Load-specific configuration data $G_VEL_PTP 30 (80)

$G_VEL_CP 30…80$I_VEL_PTP 40…800$I_VEL_CP 40…800$LG_PTP 0.2…0.7$LG_CP 0.2…0.7

Dimensions

l 292

mm a 126 mm z 110 mm b 130 mm w 24k6v -wl 50 mm zl 3.5 mm c 9 mm Connector size 1

Fig. 2-4: Motor dimensions

2. Product description 2.6Motor data for MG_220_130_25_S0

Ordering data

Version1

Drawing number394.100-01.601.48-00

Article number00-136-898

Order designation MG_220_130_25_S0

Shaft Smooth

Cool variant No

Technical data

Servo drive module KSD1-64

Static torque22 Nm

Standstill current22.5 A

Torque constant (KT0)0.98

Rated speed2500 rpm

Rated torque 6.5 Nm

Rated power 1.7 kW

Rated current7 A

Maximum torque52 Nm

Maximum current64 A

Moment of inertia (drive shaft) 2.5 kg x cm2

Brake holding torque (120°)22 Nm

Intermediate circuit voltage560 V

Weight25.7 kg

Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed50 Nm

Break speed2000 rpm

Maximum torque at rated speed46 Nm

Maximum braking torque87 Nm

Configuration data

$VEL_AXIS_MA [rpm]2500

$SERVOFILE KSD_64_M22_30

$CURR_MAX [A]64

$CURR_LIM [%]100

$KT_MOT0.98

$KT0_MOT0.98

$CURR_MON [A]22.5

$RAT_MOT_ENC{N1, D4}

$RAISE_T_MOT [ms]10

$BRK_ENERGY_MAX [J]1400

$BRK_COOL_OFF_COEFF [J/s]7.78

$BRK_TORQUE [Nm]33.0

Motor Data

The load-specific configuration data must be calculated for each individual kin-ematic system.

Load-specific configuration data $G_VEL_PTP 30 (80)

$G_VEL_CP 30…80$I_VEL_PTP 40…800$I_VEL_CP 40…800$LG_PTP 0.2…0.7$LG_CP 0.2…0.7

Dimensions

l 303

mm a 155 mm z 130 mm b 165 mm w 32k6v -wl 58 mm zl 3.5 mm c 11 mm

Connector size 1.5

Fig. 2-5: Motor dimensions

2. Product description 2.7Motor data for MG_40_80_45_S0

Ordering data

Version1

Drawing number394.100-01.601.45-00

Article number00-136-895

Order designation MG_40_80_45_S0

Shaft Smooth

Cool variant No

Technical data

Servo drive module KSD1-16KSD1-32

Static torque 4 Nm 4 Nm

Standstill current 6.3 A 6.3 A

Torque constant (KT0)0.6350.635

Rated speed4500 rpm4500 rpm

Rated torque 3 Nm 3 Nm

Rated power 1.4 kW 1.4 kW

Rated current 4.9 A 4.9 A

Maximum torque9.6 Nm12 Nm

Maximum current16 A20 A

Moment of inertia (drive shaft) 1.41 kg x cm2 1.41 kg x cm2

Brake holding torque (120°) 3.2 Nm 3.2 Nm

Intermediate circuit voltage560 V560 V

Weight8.3 kg8.3 kg

Protection rating IP64/IP65 IP64/IP65

Worst case value for the design

Acceleration torque to break speed9 Nm10.5 Nm

Break speed3500 rpm3000 rpm

Maximum torque at rated speed7.5 Nm7.5 Nm

Maximum braking torque17.4 Nm17.4 Nm

Configuration data

$VEL_AXIS_MA [rpm]45004500

$SERVOFILE KSD_16_M4_45KSD_32_M4_45

$CURR_MAX [A]1632

$CURR_LIM [%]10062

$KT_MOT0.660.66

$KT0_MOT0.6350.635

$CURR_MON [A] 6.3 6.3

$RAT_MOT_ENC{N1, D3}{N1, D3}

$RAISE_T_MOT [ms]1010

$BRK_ENERGY_MAX [J]7474

$BRK_COOL_OFF_COEFF [J/s]0.410.41

$BRK_TORQUE [Nm] 5.40 5.40

Motor Data

The load-specific configuration data must be calculated for each individual kin-ematic system.

Load-specific configuration data $G_VEL_PTP 30 (80)

$G_VEL_CP 30…80$I_VEL_PTP 40…800$I_VEL_CP 40…800$LG_PTP 0.2…0.7$LG_CP 0.2…0.7

Dimensions

l 245

mm a 96 mm z 80 mm b 100 mm w 19k6v -wl 40 mm zl 3 mm c 7 mm Connector size 1

Fig. 2-6: Motor dimensions

2. Product description 2.8Motor data for MG_64_110_35_S0

Ordering data

Version1

Drawing number394.100-01.601.46-00

Article number00-136-896

Order designation MG_64_110_35_S0

Shaft Smooth

Cool variant No

Technical data

Servo drive module KSD1-32

Static torque 6.4 Nm

Standstill current8 A

Torque constant (KT0)0.80

Rated speed3500 rpm

Rated torque 4.3 Nm

Rated power 1.6 kW

Rated current 5.9 A

Maximum torque17.3 Nm

Maximum current25.3 A

Moment of inertia (drive shaft) 3.74 kg x cm2

Brake holding torque (120°)13 Nm

Intermediate circuit voltage560 V

Weight11.2 kg

Protection rating IP64/IP65

Worst case value for the design

Acceleration torque to break speed15 Nm

Break speed2700 rpm

Maximum torque at rated speed12.6 Nm

Maximum braking torque34.8 Nm

Configuration data

$VEL_AXIS_MA [rpm]3500

$SERVOFILE KSD_32_M11_45

$CURR_MAX [A]32

$CURR_LIM [%]78

$KT_MOT0.77

$KT0_MOT0.8

$CURR_MON [A]8

$RAT_MOT_ENC{N1, D3}

$RAISE_T_MOT [ms]10

$BRK_ENERGY_MAX [J]400

$BRK_COOL_OFF_COEFF [J/s] 2.2

$BRK_TORQUE [Nm]17.50

Motor Data

The load-specific configuration data must be calculated for each individual kin-ematic system.

Load-specific configuration data $G_VEL_PTP 30 (80)

$G_VEL_CP 30…80$I_VEL_PTP 40…800$I_VEL_CP 40…800$LG_PTP 0.2…0.7$LG_CP 0.2…0.7

Dimensions

l 228

mm a 126 mm z 110 mm b 130 mm w 24 v -wl 50 mm zl 3.5 mm c 9 mm Connector size 1

Fig. 2-7: Motor dimensions