Messages

Hello Johannes,

Thank you for your reply!
I did some testing today and i come up with these numbers.

When you ONLY rotate axis A4 with 360° then axis A5 wil move 2° and axis A6 wil move 4°
When you ONLY rotate axis A5 with 360° then axis A6 wil move 4°

Here is a youtube video for who's interested.
https://www.youtube.com/watch?v=iRKDfknqtbc

So yes i need to counter the rotation via software.

In the attachment i uploaded a foto of the flange of the robot.
There where some numbers on it for axis A4 A5 and A6, do you now what they stand for?

Big thanks!!
Dimko

Hi Johannes,
How are you?
I have a question related to the robot's wrist.

As you probably know, A5 and A6 rotate undesirably when you move A4.
The encoder position of A5 and A6 remains unchanged but the real position is different because of the belt and gear transmissions. The same phenomenon exists for A6 if you only make A5 move.

Do you perhaps know the angular rotation of A5 and A6 when A4 is rotated 360° and angular rotation of A6 when A5 is rotated 360°?
The robot is a KR200/1A and the wrist of the robot is ZH200-2 (0319)

Thanks in advance!!
Best regards,
Dimko

Hey Johannes,

Thank you for your reply!
Somebody sended me the MADA-files and told me i could look into it with Notepad+
So i have the gearratio now!

Best regards

Dimko

Hello everyone,

I have a Kuka robot KR200 from the year 1998. I would like to know the gearratio of all axes A1 to A6.
I don't have a controller to read the gearratio data. Is there anyone who can know this?

Gear ratio can be found in the following lines:
$ RAT_MOT_AX [1] = {N x, D y}
$ RAT_MOT_AX [2] = {N x, D y}
$ RAT_MOT_AX [3] = {N x, D y}
$ RAT_MOT_AX [4] = {N x, D y}
$ RAT_MOT_AX [5] = {N x, D y}
$ RAT_MOT_AX [6] = {N x, D y}

Feel free to ask questions!

Best regards,

Dimko

Hello Johannes/everyone,

I have these servomotors from KUKA  for which I still need some information. I already have an Excel-file (from Kuka Augsburg) but it does not contain all the data. I am looking for this data for both Servo motors.

EMK
Winding resistance
Number of poles
Torque constant
Voltage constant
Moment of inertia (With brake)


Servo motor 1FK6100-8AF91-1ZZ9-Z S09:
Brushless servo motor
1FK6100-8AF91-1ZZ9-Z S09
No. E: K550 0225 41 021
600V 3000/4200 / min
3.77kW 9.5A
Art. number: 69-225-463

Servo motor KK53Y-YYYY-017:
AC Servo motor
KK53Y-YYYY-017
No. E: 98F19060
600V 3000 rpm
2.83kW 5.7A
Art number: 69-225-464

I hope someone can help me with this.

Thanks in advance!
With best regards,
Dimko

Hi Johannes,

Big thanks for the documents!!
I will check the dimensions from your .step file.

I have also recieved some pdf-files from Kuka Germany for the KR200.
If you want them, i'll be happy to share these with you.
But i guess you already have those!

Thanks again!!

Best,
Dimko

Hello Johannes/everyone,

I'm looking for 3D drawings of a Kuka Robot KR200 (Model: 1997-2002). Extension of the drawings may be CAD. The best would be a * mtd file with * dtm files for Powermill.

I have been looking for these drawings for weeks. Had contact with Kuka Support, but they said they no longer have drawings of robots older than 10 years. I read somewhere that these models are still in the library of software "Kuka.PRC". But I don't have this software. Perhaps it is possible to extract my model (Save under a different extension)

I do have a 3D drawing of this robot with extension *. RoboDK, maybe someone can convert this extension to CAD or MTD.
If someone can help me further I would greatly appreciate this !!

Thanks !!!

Dimko

Ok thanks man!!

Hello,
I have some servomotors from the brand Kuka (made by Siemens) and I am looking for "Technical Data and Characteristic" of the following servomotors.

Servomotor 1:
AC Servo motor
KK53Y-YYYY-017
Nr.E: 98F19060
600V       3000 rpm
2.83kW 5.7A
Art.nr: 69-225-464

Servomotor 2:
Brushless Servo motor
1FK6100-8AF91-1ZZ9-Z S09
Nr.E: K550 0225 41 021
600V       3000/4200 / min
3.77kW 9.5A
Art.nr: 69-225-463

I hope someone can help me with this, because I need some information about these motors.
For example: Torque, Moment of inertia (with brake), number of poles, etc ...

Best regards!

Hi John,

Thanks for your comment! It is true that Kuka used servo motors from Siemens.
But it is apparently very difficult to find a suitable servodrive for this.
Then I have to search a little further!

Thanks in advance!

Grtz Dimko

Hello everyone,

I have a servomotor from Kuka. But I do not have a servo drive.
It is an older servo motor of a kuka robot KR200 from 1998.

Now my question is: Is there a modern servo drive in this world that can drive this older servomotor?

Info Servomotor:
AC-Servomotor
KK53Y-YYYY-017
Nr.E       98F19060
2,83kW                5,7A
Art.nr:    69-225-464

I can replace the resolver with an encoder. Or can work with a converter (resolver to encoder).
The brake works on 24VDC.
And I would like to control the servo drive with a Hicon Integra controller, so the new servo drive must be able to receive step / dir.

All help is greatly appreciated!