MGU3100-118_en(KUKA减速机资料)

ROBOT

Motor/Gear Unit MGU3100--118 Description,Technical Data

Issued:10Jun2008Version:00

e Copyright KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller.The user has no claims to these functions,however,in the case of a replacement or service work.

We have checked the content of this documentation for conformity with the hardware and software described.Nevertheless,discrepancies cannot be precluded,for which reason we are not able to guarantee total conformity.The information in this documentation is checked on a regular basis,however,and necessary corrections will be incorporated in subsequent editions.

Subject to technical alterations without an effect on the function.

Contents

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1General5 ......................................................

2Description6 .....................................................................

2.1Gear unit6

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2.2AC servomotor7

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3Technical data8 3.1Gear unit8

.....................................................................

...............................................................

3.1.1Mechanical data8

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3.2AC servomotor,type C/1FK608112 3.2.1Mechanical data12

...............................................................

.................................................................

3.2.2Electrical data13

Description,Technical Data

1General

Valid for Motor/gear unit MGU3100--118

1General

The relevant safety regulations are to be observed during installation and

operation.

The motor/gear unit is liable to reach operating temperatures which can cause

burns to the skin.Appropriate safety precautions must be taken.

Before start--up,the oil level in the gear unit must be checked and adjusted to

the right level if necessary.

Description,Technical

Data

2Description

The motor/gear unit is supplied as a freely deployable module which is controlled and operated as an external axis by a KR C...robot controller.A motor/gear unit consists of a servomotor and a gear unit,together with the corresponding mastering kit.The servomotor and gear unit are matched to each other and may only be operated as a unit in accordance with the stated ratings.

The motor/gear unit may only be used for driving rotational https://www.360docs.net/doc/353742771.html,ing the unit for any other purpose is considered contrary to its designated use.

2.1Gear unit

The motor/gear unit is equipped with a special high--ratio planetary gear unit.The gear unit can be installed in any position and is suitable for high bearing loads.When installing the gear unit,it is important to ensure that the oil drain plugs remain accessible.If required by the installation position,a filling and draining aperture must be provided on both sides of any adjoining assemblies with sufficient clearance to ensure that the entire amount of oil can be drained.

1Gear unit 3AC servomotor

Drain plugs

Protective cap for release device

Fig.1Structure of motor/gear unit

Mastering

The supplied mastering kit comprises a mount with gauge cartridge and a gauge pin.The mount is installed on the stationary part of the system and the gauge pin on the moving part.For zero adjustment,a dial gauge (manual method)or an electronic measuring tool (automatic method)is screwed into the gauge cartridge.Both mastering tools are available as accessories.

Before the motor/gear unit is put into operation in a system,zero adjustment must be performed in accordance with the robot or system manual.

2Description(continued)

2.2AC servomotor

The motor unit consists of a brushless AC servomotor with a permanent--magnet single--disk

brake and a hollow--shaft resolver(both integrated).The drive power is transmitted by means

of an output shaft with involute toothing on the servomotor.

The permanent--magnet single--disk brake performs a holding function when the servomotor

is at rest and contributes to the braking of the respective axis in the event of short--circuit

braking(e.g.if one or more of the enabling switches is released while in Test mode).Short--

circuit braking must not be used to stop the robot under normal circumstances.

G Release device for servomotors

This device can be used to move the axes of the system mechanically via the servomotors

after a malfunction.It is only for use in exceptional circumstances and emergencies(e.g.for

freeing people).

The release device may only be used if the main switch on the system control

cabinet has been turned to“OFF”and secured with a padlock to prevent

unauthorized persons from switching it on again.

Hazards posed by other system components must also be taken into consideration.

If a servomotor has been moved using the release device,this axis of the system

must be remastered.

The system may only be moved manually using the release device supplied by KUKA.The

release device is pushed onto the axle of the motor(remove protective cap),which can then

be turned.It is necessary to overcome the resistance of the mechanical motor brake and any

other loads acting on the axis.The protective cap must be put back on after the operation.

G Note on installation

When installing the servomotor,the involute toothing on the motor and the gear unit must

be cleaned and a thin but continuous coat of Microlube GL261applied.AC servomotors may

only be installed in gear units if the toothing is undamaged on both sides of the connection.

The servomotor must not be tilted while it is being installed.

Description,Technical Data

3Technical data

In the following sections,the most important technical data are given for the motor/gear unit.

The arrangement,designation and allocation of the cables may be noted from the various

diagrams.The connectors are provided with identification labels,and the ground conductors

are equipped with cable lugs.

3.1Gear unit

3.1.1Mechanical data

Gear unit71--050--781

Gear ratio118.5

Rated torque3,100Nm

Acceleration torque4,250Nm

Efficiency0.8

Installation position Any

Max.F rad10,000N

Max.F ax10,000N

Max.M tilt4,000Nm

Mass moment of inertia0.00029kgm2

Maintenance interval20,000h

Amount of lubricant 1.25l

Lubricant Optigear RMO150

KUKA Art.no.00--106--431

Lubricant Microlube GL261

for involute toothing KUKA Art.no.83--087--280

Weight of gear unit with oil52kg

Release device KUKA Art.no.01--050--737

optional

3Technical data

(continued)

397.5

(17)

380.5(30)

136.5166.5

(214)

?260

?325

0--0,057

h 7?284

0--0,046

h 7?2450

--0,052h 7

223

1Fastening screws,input side,M12x50,10.92Fastening screws,servomotor,M10x30,10.93Screw plug VSTI M10x1--ED

Fastening screws,output side,M16x...*,10.9;M10x...10.9Depth of engagement:min.45mm /max.49mm (*Screw length depends on installation situation)

Fig.2Principal dimensions

Description,Technical

Data

Installation dimensions,system side

Screw size Tightening torque M12x50--10.9

104Nm M10x30--10.9

60Nm M16x....*--10.9

250Nm VSTI M10x1

20Nm

(24x)

ISO4762---M12x50---10.9---black

7.5

109.50,2

29(for M16)

(Depth of screw thread in the gear unit)

(6x)

DIN7984---M6x12---10.9---black 16(for M6;M10)

(Depth of screw thread in the gear unit)For example:

ISO4762---M10x...---10.9---black (18x)For example:

ISO4762---M16x...---10.9---black (6x)

Fig.3Interface with gear unit flange

3Technical data

(continued)

Fig.4Interface with gear unit housing

Press fit or glued in

Through--hole

Theoretical switching point

18+2deep 12+2Fitting length

M5/8+1deep (2x)

Fig.5Installation dimensions,mastering kit

Description,Technical

Data

3.2

AC servomotor,type C/1FK6081

3.2.1

Mechanical data

Static torque 11Nm Rated torque 9Nm Rated speed 3000min --1Min.KT factor 1.4Nm/A Moment of inertia

25kgcm 2Holding brake torque at 120°C 11Nm Max.acceleration torque 22Nm Weight

52kg

Involute DIN5480-Fig.6Principal dimensions

3Technical data

(continued)

1Motor connector,6--pole3Rating plate

2Control cable connector,12--pole4Servomotor

Fig.7Configuration

3.2.2Electrical data

Holding current7.5A

Rated current 6.6A

Max.acceleration current16A

Intermediate circuit voltage540V

Protection classification IP65(with the exception of the

mounting flange)

Connector pin assignment for control cable see Fig.8

Pin Assignment 1U

3GND

4brake+

5brake--

Motor Brake

Fig.8Connector pin assignment for XM,motor cable for type C/1FK6081