Controller Option KUKA Roboter GmbH

Optional Interfaces

For KR C4 compact
Assembly and Operating Instructions

Issued: 15.04.2014

Version: MA KR C4 compact Interfaces V6

 Optional Interfaces

© Copyright 2014
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of 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, how-
ever, 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: Pub MA KR C4 compact Interfaces (PDF) en

Book structure: MA KR C4 compact Interfaces V7.1
Version: MA KR C4 compact Interfaces V6

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 Contents

Contents
1 Introduction .................................................................................................. 5
1.1 Industrial robot documentation ................................................................................... 5
1.2 Representation of warnings and notes ...................................................................... 5
1.3 Terms used ................................................................................................................ 6

2 Purpose ........................................................................................................ 7
2.1 Target group .............................................................................................................. 7
2.2 Intended use .............................................................................................................. 7

3 Product description ..................................................................................... 9

3.1 Description of the industrial robot .............................................................................. 9
3.2 Overview of the KR C4 compact robot controller ....................................................... 9
3.3 Optional KR C4 compact interfaces ........................................................................... 10
3.4 External 24 V power supply ....................................................................................... 12

4 Technical data .............................................................................................. 13

4.1 External 24 V power supply ....................................................................................... 13

5 Safety ............................................................................................................ 15
6 Planning ....................................................................................................... 17
6.1 Digital I/O interfaces X12 ........................................................................................... 18
6.1.1 Digital I/O modules 16/16 ..................................................................................... 18
6.1.2 Digital I/O modules 16/16/4 .................................................................................. 20
6.2 DeviceNet interfaces, overview .................................................................................. 21
6.2.1 DeviceNet master X14A ....................................................................................... 22
6.2.2 DeviceNet interface X14C and X14D ................................................................... 22
6.3 PROFIBUS interface X15A and X15B ....................................................................... 24
6.4 Drive box interface for external axes X28 .................................................................. 25
6.5 Fast Measurement inputs, X33 .................................................................................. 25
6.5.1 Power supply for Fast Measurement .................................................................... 26
6.6 External power supply via X55 ................................................................................... 27
6.7 PROFIBUS master X61 ............................................................................................. 30
6.8 EtherCAT bridge interface X67.1 and X67.2 .............................................................. 31
6.9 VARAN slave interface X67.1 and X67.2 ................................................................... 31
6.10 RoboTeam interface X70 and X71 ............................................................................. 32
6.11 Mastering test ............................................................................................................ 32
6.12 Performance level ...................................................................................................... 32
6.12.1 PFH values of the safety functions ....................................................................... 32

7 KUKA Service .............................................................................................. 35

7.1 Requesting support .................................................................................................... 35
7.2 KUKA Customer Support ........................................................................................... 35

Index ............................................................................................................. 43

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 1 Introduction

1 Introduction

1.1 Industrial robot documentation

The industrial robot documentation consists of the following parts:

 Documentation for the manipulator
 Documentation for the robot controller
 Operating and programming instructions for the System Software
 Instructions for options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.

1.2 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

that death or severe injuries will occur, if no precautions
are taken.

These warnings mean that death or severe injuries may

occur, if no precautions are taken.

These warnings mean that minor injuries may occur, if

no precautions are taken.

These warnings mean that damage to property may oc-

cur, if no precautions are taken.

These warnings contain references to safety-relevant information or

general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.

This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:

Procedures marked with this warning must be followed

exactly.

Notes These notices serve to make your work easier or contain references to further
information.

Tip to make your work easier or reference to further information.

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 Optional Interfaces

1.3 Terms used

Term Description
CIP Safety Common Industrial Protocol Safety
CIP Safety is an Ethernet/IP-based safety inter-
face for connecting a safety PLC to the robot
controller. (PLC = master, robot controller =
slave)
CCU_SR Cabinet Control Unit Small Robot
CIB_SR Cabinet Interface Board Small Robot
Dual NIC card Dual network card
EDS Electronic Data Storage (memory card)
EMD Electronic Mastering Device
EMC Electromagnetic compatibility
KCB KUKA Controller Bus
KEB KUKA Extension Bus
KEI KUKA Extension Interface
KLI KUKA Line Interface. Connection to higher-level
control infrastructure (PLC, archiving)
KOI KUKA Option Interface
KONI KUKA Option Network Interface
KPC Control PC
KPP_SR KUKA Power Pack Small Robot
KRL KUKA Robot programming language (KUKA
Robot Language)
KSB KUKA System Bus. Internal KUKA bus for inter-
nal networking of the controllers with each other
KSI KUKA Service Interface
KSP_SR KUKA Servo Pack Small Robot
KSS KUKA System Software
Manipulator The robot arm and the associated electrical
installations
PMB_SR Power Management Board Small Robot
RDC Resolver Digital Converter
SATA connections Data bus for exchanging data between the pro-
cessor and the hard drive
USB Universal Serial Bus. Bus system for connecting
additional devices to a computer
EA External axis (linear unit, Posiflex)

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 2 Purpose

2 Purpose

2.1 Target group

This documentation is aimed at users with the following knowledge and skills:
 Advanced knowledge of electrical and electronic systems
 Advanced knowledge of the robot controller
 Advanced knowledge of the Windows operating system

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 ob-
tained directly from our subsidiaries.

2.2 Intended use

Use The following interfaces are options for the KR C4 compact robot controller:
 X61 PROFIBUS master
Optionally expandable with X12 digital inputs and outputs 16/16
 X15A and X15B PROFIBUS slave IN and OUT
Optionally expandable with X12 digital inputs and outputs 16/16
 X14A DeviceNet master
Optionally expandable with X12 digital inputs and outputs 16/16
 X14C and X14D DeviceNet slave
Optionally expandable with X12 digital inputs and outputs 16/16
 X61 with X15A and X15B PROFIBUS master with PROFIBUS slave IN
and OUT
 X14A with X14C and X14D DeviceNet master with DeviceNet slave
 X12 digital inputs and outputs 16/16
 X12 digital inputs and outputs 16/16/4
 X55 external power supply
 X33 Fast Measurement
 X67.1 and X67.2 EtherCAT bridge master/master
 X67.1 and X67.2 VARAN slave EtherCAT IN/OUT
 X70 and X71 RoboTeam input and output
 X28 drive box interface for external axes

Misuse Any use or application deviating from the intended use is deemed to be misuse
and is not allowed. This includes e.g.:
 Use as a climbing aid
 Operation outside the permissible operating parameters
 Use in potentially explosive environments
 Use in underground mining

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 3 Product description

3 Product description

3.1 Description of the industrial robot

The industrial robot consists of the following components:

 Manipulator
 Robot controller
 smartPAD teach pendant
 Connecting cables
 Software
 Options, accessories

Fig. 3-1: Example of an industrial robot

1 Manipulator
2 Teach pendant
3 Connecting cable, smartPAD
4 Robot controller
5 Connecting cable, data cable
6 Connecting cable, motor cable

3.2 Overview of the KR C4 compact robot controller

The robot controller is used for controlling the following systems:

 KUKA Small Robots
The robot controller consists of the following components:
 Control PC
 Power unit
 Safety logic
 smartPAD teach pendant
 Connection panel
The robot controller can be installed in a 19" rack.

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Fig. 3-2: Overview of KR C4 compact

1 Control unit (control box)

2 Power unit (drive box)

3.3 Optional KR C4 compact interfaces

Overview The connection panel of the robot controller consists of connections for the fol-
lowing cables:
 Power cable / infeed
 Motor cables to the manipulator
 Data cables to the manipulator
 KUKA smartPAD cable
 PE cables
 Peripheral cables
The configuration of the connection panel varies according to the customer-
specific version and the options required.

Connection panel

Fig. 3-3: Connection panel

1 Slot 1
2 Slot 2
3 X55 external power supply interface

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 3 Product description

4 Slot 4
5 X28 drive box interface for external axes
6 X12 digital I/O interface

All contactor, relay and valve coils that are connected to the robot
controller by the user must be equipped with suitable suppressor di-
odes. RC elements and VCR resistors are not suitable.

Assignment of Slot 1 can be assigned the following interfaces:

slot 1
Slot Con- Description Comments
nector
X61 PROFIBUS master X61 can be
selected individu-
ally.
X15A PROFIBUS slave IN -
X15B PROFIBUS slave OUT -
X14A DeviceNet master X14A can be
selected individu-
ally.
X14C DeviceNet slave IN -
X14D DeviceNet slave OUT -
X67.1  VARAN slave Ether- Signal IN
CAT
 EtherCAT bridge
(master/master)
X67.2  VARAN slave Ether- Signal OUT
CAT
 EtherCAT bridge
(master/master)

Assignment of Slot 2 can be assigned the following interfaces:

slot 2
Slot Con- Description Comments
nector
X15A PROFIBUS slave IN -
X15B PROFIBUS slave OUT -
X14C DeviceNet slave IN -
X14D DeviceNet slave OUT -

Combinations The following combinations of interfaces are possible:

PROFIBUS:
 X61 with X55
 X61 with X55 and X12
 X61 with X15A/X15B and X55
 X15A/X15B with X55
 X15A/X15B with X55 and X12
DeviceNet:
 X14A with X55
 X14A with X55 and X12
 X14A with X14C/X14D and X55
 X14C/X14D with X55

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 X14C/X14D with X55 with X12

External power supplies:
 X55
 X55 with X12 with 16/16 I/O
 X55 with X12 with 16/16/4 I/O
 X55 with X67.1 and X67.2

Assignment of Slot 4 can be assigned the following interfaces:

slot 4
Slot Con- Description Comments
nector
X33 Fast Measurement -

X70 RoboTeam input -

X71 RoboTeam output -

3.4 External 24 V power supply

External 24 V power supply is possible via interface X55 for the following com-
ponents:
 Beckhoff digital I/O modules and bus coupler
 VARAN slave

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 4 Technical data

4 Technical data

4.1 External 24 V power supply

PELV external External voltage PELV power supply unit acc. to EN

power supply 60950 with rated voltage 27 V (18 V
... 30 V), safely isolated
Continuous current >8A
Cable cross-section of power sup- ≥ 1 mm2
ply cable
Cable length of power supply cable < 50 m, or < 100 m wire length (out-
going and incoming lines)

The cables of the power supply unit must not be routed together with
power-carrying cables.

The minus connection of the external voltage must be grounded by

the customer.

Parallel connection of a basic-insulated device is not permitted.

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 5 Safety

5 Safety
This documentation contains safety instructions which refer specifically to the
product described here. The fundamental safety information for the industrial
robot can be found in the “Safety” chapter of the operating or assembly instruc-
tions for the robot controller.

The “Safety” chapter in the operating instructions or as-

sembly instructions of the robot controller must be ob-
served. Death to persons, severe injuries or considerable damage to
property may otherwise result.

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 6 Planning

6 Planning
Overview Step Description
1 Digital I/O interfaces X12
(>>> 6.1 "Digital I/O interfaces X12" Page 18)
2 DeviceNet interface X14A, X14C and X14D
(>>> 6.2.1 "DeviceNet master X14A" Page 22)
(>>> 6.2.2 "DeviceNet interface X14C and X14D" Page 22)
3 PROFIBUS slave interface X15A and X15B with power sup-
ply X55
(>>> 6.3 "PROFIBUS interface X15A and X15B" Page 24)
4 X28 drive box interface for external axes
(>>> 6.4 "Drive box interface for external axes X28"
Page 25)
5 Fast Measurement interface X33
(>>> 6.5 "Fast Measurement inputs, X33" Page 25)
6 PROFIBUS master interface X61
(>>> 6.7 "PROFIBUS master X61" Page 30)
7 External power supply via X55
(>>> 6.6 "External power supply via X55" Page 27)
8 RoboTeam interface X70 and X71
(>>> 6.10 "RoboTeam interface X70 and X71" Page 32)
9 EtherCAT bridge interface X67.1 and X67.2
(>>> 6.8 "EtherCAT bridge interface X67.1 and X67.2"
Page 31)
10 VARAN slave interface X67.1 and X67.2
(>>> 6.9 "VARAN slave interface X67.1 and X67.2" Page 31)
11 Reference switch
(>>> 6.11 "Mastering test" Page 32)
12 Performance Level
(>>> 6.12 "Performance level" Page 32)

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6.1 Digital I/O interfaces X12

6.1.1 Digital I/O modules 16/16

Connector pin
allocation

Fig. 6-1: Connector pin allocation, X12, digital I/O modules 16/16

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 6 Planning

Signal Pin Description

Input 1 1 Digital input 1 Reference point 0
Input 2 2 Digital input 2 V external 1-16
Input 3 3 Digital input 3
Input 4 4 Digital input 4
Input 5 5 Digital input 5
Input 6 6 Digital input 6
Input 7 7 Digital input 7
Input 8 8 Digital input 8
Input 9 9 Digital input 9
Input 10 10 Digital input 10
Input 11 11 Digital input 11
Input 12 12 Digital input 12
Input 13 13 Digital input 13
Input 14 14 Digital input 14
Input 15 15 Digital input 15
Input 16 16 Digital input 16
Output 1 17 Digital output 1 0.5 A per output,
Output 2 18 Digital output 2 24 V external
power supply 1-16
Output 3 19 Digital output 3
Output 4 20 Digital output 4
Output 5 21 Digital output 5
Output 6 22 Digital output 6
Output 7 23 Digital output 7
Output 8 24 Digital output 8
Output 9 25 Digital output 9
Output 10 26 Digital output 10
Output 11 27 Digital output 11
Output 12 28 Digital output 12
Output 13 29 Digital output 13
Output 14 30 Digital output 14
Output 15 31 Digital output 15
Output 16 32 Digital output 16

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6.1.2 Digital I/O modules 16/16/4

Connector pin
allocation

Fig. 6-2: Connector pin allocation, X12, digital I/O modules 16/16/4

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 6 Planning

Signal Pin Description

Input 1 1 Digital input 1 Reference point 0
Input 2 2 Digital input 2 V external 1-16
Input 3 3 Digital input 3
Input 4 4 Digital input 4
Input 5 5 Digital input 5
Input 6 6 Digital input 6
Input 7 7 Digital input 7
Input 8 8 Digital input 8
Input 9 9 Digital input 9
Input 10 10 Digital input 10
Input 11 11 Digital input 11
Input 12 12 Digital input 12
Input 13 13 Digital input 13
Input 14 14 Digital input 14
Input 15 15 Digital input 15
Input 16 16 Digital input 16
Output 1 17 Digital output 1 0.5 A per output,
Output 2 18 Digital output 2 24 V external
power supply 1-16
Output 3 19 Digital output 3
Output 4 20 Digital output 4
Output 5 21 Digital output 5
Output 6 22 Digital output 6
Output 7 23 Digital output 7
Output 8 24 Digital output 8
Output 9 25 Digital output 9
Output 10 26 Digital output 10
Output 11 27 Digital output 11
Output 12 28 Digital output 12
Output 13 29 Digital output 13
Output 14 30 Digital output 14
Output 15 31 Digital output 15
Output 16 32 Digital output 16
Output 17 33 Digital output 17 2 A per output,
0V 34 0V 24 V external
power supply 17-
0V 35 0V
20
Output 19 36 Digital output 19
Output 18 37 Digital output 18
0V 38 0V
0V 39 0V
Output 20 40 Digital output 20

6.2 DeviceNet interfaces, overview

The following DeviceNet variants are available:

 X14A DeviceNet master
 X14C DeviceNet slave IN
X14D DeviceNet slave OUT

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 X14A DeviceNet master

X14C DeviceNet slave IN
X14D DeviceNet slave OUT

6.2.1 DeviceNet master X14A

Connector pin
allocation

Fig. 6-3: Connector pin allocation X14A

Connector X14A,
contact diagram

Fig. 6-4: Contact diagram, X14A, view from contact side

Cable clamping range: Ø10 ... Ø12 mm

Recommended connecting cable: AWG 16

6.2.2 DeviceNet interface X14C and X14D

Connector pin
allocation

Fig. 6-5: Connector pin allocation X14C and X14D

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Connector X14C,
contact diagram

Fig. 6-6: Contact diagram, X14C, view from contact side

Cable clamping range: Ø10 ... Ø12 mm

Recommended connecting cable: AWG 16

Connector X14D,
contact diagram

Fig. 6-7: Contact diagram, X14D, view from contact side

Cable clamping range: Ø10 ... Ø12 mm

Recommended connecting cable: AWG 16

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6.3 PROFIBUS interface X15A and X15B

Connector pin
allocation

Fig. 6-8: Connector pin allocation X15A and X15B

The PROFIBUS interface must be configured with Work Visual.

Power supply The power can be supplied either directly from an external source, or by jum-
pering the internal voltage on X55.

Connector X15A,
contact diagram

Fig. 6-9: Contact diagram, X15A, view from contact side

Cable clamping range: Ø9 ... Ø14.7 mm

Recommended connecting cable: Multibus cable

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 6 Planning

Connector X15B,
contact diagram

Fig. 6-10: Contact diagram, X15B, view from contact side

Cable clamping range: Ø9 ... Ø14.7 mm

Recommended connecting cable: Multibus cable

6.4 Drive box interface for external axes X28

Description Interface X28 in the drive box is for the connection of an optional drive box for
external axes.

Connector pin
allocation

Fig. 6-11: Connector pin allocation X28

6.5 Fast Measurement inputs, X33

Configuration Fast measurement is activated with $MEAS_PULSE by means of an interrupt.

When the interrupt is activated, $MEAS_PULSE must have the value “false”,
otherwise an acknowledgement message is generated and the program is
stopped.

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Connector pin
allocation

Fig. 6-12: Connector pin allocation X33

Connector
contact diagram

Fig. 6-13: Contact diagram, X33, view from contact side

 Cable clamping range: Ø6 ... Ø10 mm

 Recommended cable cross-section: 1 mm2

6.5.1 Power supply for Fast Measurement

Internal power If the sensors for Fast Measurement are supplied with power by the robot con-
supply troller (pin 6 +24V-P, pin 8 GND-P), pins 7 and 8 in the customer’s mating
piece for X33 must be connected. In this way, the reference ground for the
Fast Measurement inputs (pin 7 GND input) is connected to the power supply
ground of the sensors (pin 8 GND-P).
The diagram (>>> Fig. 6-14 ) illustrates the internal voltage supply.

Fig. 6-14: Internal power supply for “Fast Measurement”

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1 Sensor 1 4 Sensor 4
2 Sensor 2 5 Jumper between GND-INPUT
and 0V-P in connector X33
3 Sensor 3

External power If the sensors for Fast Measurement are supplied externally with power (not
supply via X33 of the robot controller), the reference ground of the sensors must be
connected to pin 7 GND-Input.

Fig. 6-15: External power supply for “Fast Measurement”

1 Sensor 1 4 Sensor 4
2 Sensor 2 5 0 V external to GND-INPUT
3 Sensor 3 6 24 V DC external

6.6 External power supply via X55

Description The power can be supplied either directly from an external source to contacts
3/4 and/or 5/6, or by jumpering the internal voltage (contacts 7/8) on X55.

The 4x2 A output module must only be supplied with power externally
to contacts 1/2. The module must not be supplied with power internal-
ly.

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Connector pin
allocation

Fig. 6-16: Connector pin allocation X55 with bus coupler

Fig. 6-17: Connector pin allocation X55 with EtherCAT bridge

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Fig. 6-18: Connector pin allocation X55 with VARAN slave

Connector
contact diagram

Fig. 6-19: Contact diagram, X55, view from contact side

Cable clamping range: Ø9 ... Ø13 mm

Recommended wire cross-section: 1 mm2

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6.7 PROFIBUS master X61

Connector pin
allocation

Fig. 6-20: Connector pin allocation X61

Connector
contact diagram

Fig. 6-21: Contact diagram, view from contact side

 Cable clamping range: Ø9 ... Ø14.7 mm

 Recommended connecting cable: Multibus cable

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6.8 EtherCAT bridge interface X67.1 and X67.2

Connector pin
allocation

Fig. 6-22: Connector pin allocation X67.1 and X67.2, EtherCAT bridge

Recommended Ethernet-compatible, min. category CAT 5.

cable

6.9 VARAN slave interface X67.1 and X67.2

Connector pin
allocation

Fig. 6-23: Connector pin allocation X67.1 and X67.2, VARAN slave

Recommended Ethernet-compatible, min. category CAT 5.

cable

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6.10 RoboTeam interface X70 and X71

Connector pin
allocation

Fig. 6-24: Connector pin allocation X70 and X71

6.11 Mastering test

For the mastering test, a reference switch must be connected to the safety
PLC and activated via PROFIsafe or CIP Safety. The safety PLC must evalu-
ate the reference switch and set the input “Mastering test” accordingly.

6.12 Performance level

The safety functions of the robot controller conform to category 3 and Perfor-
mance Level d according to EN ISO 13849-1.

6.12.1 PFH values of the safety functions

The safety values are based on a service life of 20 years.

The PFH value classification of the controller is only valid if the E-STOP device
is tested at least once every 6 months.
When evaluating system safety functions, it must be remembered that the
PFH values for a combination of multiple controllers may have to be taken into
consideration more than once. This is the case for RoboTeam systems or
higher-level hazard areas. The PFH value determined for the safety function
at system level must not exceed the limit for PL d.
The PFH values relate to the specific safety functions of the different controller
variants.

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Safety function groups:

 Standard safety functions
 Operating mode selection
 Operator safety
 EMERGENCY STOP device
 Enabling device
 External safe operational stop
 External safety stop 1
 External safety stop 2
 Velocity monitoring in T1
 Safety functions of KUKA.SafeOperation (option)
 Monitoring of axis spaces
 Monitoring of Cartesian spaces
 Monitoring of axis velocity
 Monitoring of Cartesian velocity
 Monitoring of axis acceleration
 Safe operational stop
 Tool monitoring
Overview of controller variant PFH values:

Robot controller variant PFH value

KR C4 compact < 6.37 x 10-8

For controller variants that are not listed here, please contact KUKA
Roboter GmbH.

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 7 KUKA Service

7 KUKA Service

7.1 Requesting support

Introduction This documentation provides information on operation and operator control,

and provides assistance with troubleshooting. For further assistance, please
contact your local KUKA subsidiary.

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

 Model and serial number of the manipulator
 Model and serial number of the controller
 Model and serial number of the linear unit (if present)
 Model and serial number of the energy supply system (if present)
 Version of the system software
 Optional software or modifications
 Diagnostic package KrcDiag:
Additionally for KUKA Sunrise: Existing projects including applications
For versions of KUKA System Software older than V8: Archive of the soft-
ware (KrcDiag is not yet available here.)
 Application used
 External axes used
 Description of the problem, duration and frequency of the fault

7.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.

Argentina 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
[email protected]

Australia Headland Machinery Pty. Ltd.

Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australia
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
[email protected]
www.headland.com.au

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Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
[email protected]
www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
[email protected]
www.kuka-roboter.com.br

Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
[email protected]
www.robotec.cl

China KUKA Robotics China Co.,Ltd.

Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1888
Fax +86 21 6787-1803
www.kuka-robotics.cn

Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
[email protected]
www.kuka-roboter.de

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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
[email protected]
www.kuka.fr

India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
[email protected]
www.kuka.in

Italy 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
[email protected]
www.kuka.it

Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
[email protected]

Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
[email protected]
www.kuka-robotics.com/canada

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 Optional Interfaces

Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
[email protected]

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
[email protected]

Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
[email protected]
www.kuka-robotics.com/mexico

Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
[email protected]

Austria KUKA Roboter CEE GmbH

Gruberstraße 2-4
4020 Linz
Austria
Tel. +43 7 32 78 47 52
Fax +43 7 32 79 38 80
[email protected]
www.kuka.at

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Poland KUKA Roboter Austria GmbH

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]

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
[email protected]

Russia KUKA Robotics RUS

Werbnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
[email protected]
www.kuka-robotics.ru

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

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Spain KUKA Robots IBÉRICA, 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
[email protected]
www.kuka-e.com

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

Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
[email protected]
www.kuka.com.tw

Thailand 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
[email protected]
www.kuka-roboter.de

Czech Republic KUKA Roboter Austria GmbH

Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
[email protected]

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Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
[email protected]

USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
[email protected]
www.kukarobotics.com

UK KUKA Automation + Robotics

Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
[email protected]

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 Index

Index
A Infeed 10
Accessories 9 Inputs, Fast Measurement 25
Intended use 7
C Interface X70 32
CCU_SR 6 Interface X71 32
CIB_SR 6 Interface, drive box X28 25
CIP Safety 6 Interfaces, KR C4 compact 10
Connecting cables 9 Internal power supply X33 26
Connection panel 9 Introduction 5
Connection panel, overview 10
Connector pin allocation X12 18 K
Connector pin allocation X14A 22 KCB 6
Connector pin allocation X15A 24 KEB 6
Connector pin allocation X15B 24 KEI 6
Connector pin allocation X28 25 KLI 6
Connector pin allocation X33 26 KOI 6
Connector pin allocation X55 28 KONI 6
Connector pin allocation X61 30 KPC 6
Connector pin allocation X67, EtherCAT bridge KPP_SR 6
31 KRL 6
Connector pin allocation X67, VARAN 31 KSB 6
Connector pin allocation X70 32 KSI 6
Connector pin allocation X71 32 KSP_SR 6
Contact diagram X14A 22 KSS 6
Contact diagram X14C 23 KUKA Customer Support 35
Contact diagram X14D 23 KUKA smartPAD cable 10
Contact diagram X33 26
Control PC 9 M
Manipulator 6, 9
D Mastering test 32
Data cables 10 Motor cables 10
Description of the industrial robot 9
DeviceNet interfaces 21 O
DeviceNet master 22 Options 9
DeviceNet Slave In and Out 22 Overview of the robot controller 9
DeviceNet X14A 22
DeviceNet X14C 22 P
DeviceNet X14D 22 PE cables 10
Digital I/O interfaces X12 18 PELV power supply unit 13
Digital I/O modules 16/16 18 Performance level 32
Digital I/O modules 16/16/4 20 Peripheral cables 10
Documentation, industrial robot 5 PFH values 32
Drive box X28 25 PL 32
Dual NIC card 6 Planning 17
PMB_SR 6
E Power cable 10
EA 6 Power supply for Fast Measurement 26
EDS 6 Power supply, external 24 V 12
EMC 6 Power supply, X15A and X15B 24
EMD 6 Power unit 9
EtherCAT bridge interface X67.1 31 Product description 9
EtherCAT bridge interface X67.2 31 PROFIBUS interface X15A 24
External power supply X33 27 PROFIBUS interface X15B 24
External power supply X55 27 PROFIBUS master X61 30
External voltage 13 Purpose 7

I R
Industrial robot 9 RDC 6

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Robot controller 9
RoboTeam interface 32

S
Safely isolated 13
Safety 15
Safety instructions 5
Safety logic 9
SATA connections 6
Service, KUKA Roboter 35
Software 9
Support request 35

T
Target group 7
Teach pendant 9
Technical data 13
Terms used 6
Training 7

U
USB 6

V
VARAN interface X67.1 31
VARAN interface X67.2 31

W
Warnings 5

X
X12 18
X14C, connector pin allocation 22
X14D, connector pin allocation 22
X33 25
X61 30

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