of course not... serial number would only be meaningful if you had access to database that contains all the info of all such products. which is never the case.
in other words, do not bother using serial number as a search key, always use model or article number.
so you can go to Siemens website and look up servo motors i their motion catalog, then look for exact 1FK6xxx model.
or go to KUKA Xpert and try to download motor data manual. this is an old style motor (new ones are 1FK7xxx) so you will have more luck with KRC2 documents.
btw this model is also known as type H...
normally found in wrist of 2000 series robots with payload 100-240kg
you also don't mention how you plan to use this... in a KRC2 or KRC4 controller
did you read my last response? this motor is used on many KUKA robots. you can see parameters in MADA for those robots.
so one option is to read article number from the label. Note that Parts&Docs expect formatted number:
so we search for that article number and it is used in many places... including wrists of many robots, such as KR150:
Then you take a look and confirm that this is indeed the same article number used on three wrist axes:
now that his is out of way, go to D: and check MADA for that robot.
we can use either A4, or A5 or A6 as the motor is the same in all of them. so how about A6 axis?
all MADA settings for Axis 6 will be in arrays with index "[6]" so lets just search for everything containing "[6]"
and you can pick all you need...
this is why you always want access to your robot documentation including Parts and Docs
KSD servofile for all the wrist axes is same too:
$SERVOFILE6[]="KSD_16_MC_A"
there is a slight difference in axis energy $AX_ENERGY_MAX (+/-10%) but this is all in the ballpark. the $BRK_ENERGY_MAX is same.
gear ratio of course will be different but that is expected.
like for A6, index is "[6]", everything for E1 will be found with index "[7]"
note that $PMCHANNEL[7] will be different (value 21 or 121 depending on presence of SMB)
if you have KRC2 controller (which is what you are working with), MADA for all robots should be on D: in path as indicated in my screenshots
Line 13: $AXIS_TYPE[6]=3
Line 88: $MAMES[6]=0.0
Line 104: $RAT_MOT_AX[6]={N -1575,D 22}
Line 117: $RAT_MOT_ENC[6]={N 1,D 3}
Line 130: $DSECHANNEL[6]=6
Line 143: $PMCHANNEL[6]=20
Line 156: $LOOP_LG_PTP[6]=0.0
Line 175: $LOOP_I_LG_PTP[6]=0.0
Line 194: $LOOP_G_VEL_PTP[6]=0.0
Line 213: $LOOP_I_VEL_PTP[6]=0.0
Line 232: $LOOP_DIRECTION[6]=1
Line 251: $SLAVE_LOOP_FOL_CRITICAL[6]=1
Line 270: $SLAVE_LOOP_FOL_ALARM[6]=0.0
Line 289: $SLAVE_LOOP_SPEED_ALARM[6]=0.0
Line 308: $SLAVE_LOOP_PMCHANNEL[6]=0
Line 327: $LOOP_TYPE[6]=1
Line 346: $LOOP_TYPE_ATTRIBUTE[6]=0
Line 365: $MASTER_LOOP[6]=0
Line 384: $SLAVE_TORQUE_RATIO[6]=0.0
Line 403: $NINPUT_SENSORTYPE[6]=1
Line 422: $NINPUT_SENSORCHANNEL[6]=6
Line 441: $NINPUT_SUBCHANNEL[6]=0
Line 460: $POSINPUT_SENSORTYPE[6]=1
Line 479: $POSINPUT_SENSORCHANNEL[6]=6
Line 498: $POSINPUT_SUBCHANNEL[6]=0
Line 517: $LOOP_RAT_MOT_AX[6]={N 0,D 1}
Line 536: $LOOP_RAT_EXTPOS_AX[6]={N 0,D 1}
Line 555: $MOTOR_POLE_NUMBER[6]=3
Line 616: $CURR_MAX[6]=16.0
Line 629: $CURR_CAL[6]=1.0
Line 642: $CURR_LIM[6]=100
Line 655: $CURR_MON[6]=6.7
Line 668: $KPS_CURR_MAX[6]=70.0
Line 677: $KPS_CURR_RATED[6]=20.0
Line 680: REAL $CURR_COM_EX[6] ;STROMGRENZE EXTERNER ACHSEN FUER HANDVERFAHREN
Line 686: $CURR_COM_EX[6]=100.0
Line 693: $KT_MOT[6]=1.37
Line 706: $KT0_MOT[6]=1.57
Line 719: $RAISE_TIME[6]=350.0
Line 732: $RAISE_T_MOT[6]=5.0
Line 745: $VEL_AXIS_MA[6]=2000.0
Line 758: $VEL_CPT1_MA[6]=29
Line 771: $VEL_DSE_MA[6]=136
Line 784: $AXIS_RESO[6]=4096
Line 797: $RED_VEL_AXC[6]=10
Line 810: $RED_ACC_AXC[6]=20
Line 829: $RED_ACC_OV[6]=100
Line 847: $RED_ACC_EMX[6]=200
Line 866: $ST_TOL_VEL[6]=15.0
Line 881: $VEL_AX_JUS[6]=0.45
Line 894: $SEN_DEL[6]=-38
Line 907: $L_EMT_MAX[6]=6.4
Line 920: $G_VEL_CAL[6]=0.0
Line 933: $LG_PTP[6]=0.24
Line 946: $LG_CP[6]=0.15
Line 959: $I_LG_PTP[6]=0.0
Line 972: $I_LG_CP[6]=0.0
Line 986: $DECEL_MB[6]=180.0
Line 999: $G_COE_CUR[6]=15
Line 1012: $G_VEL_PTP[6]=33.0
Line 1025: $G_VEL_CP[6]=33.0
Line 1038: $I_VEL_PTP[6]=200.0
Line 1051: $I_VEL_CP[6]=100.0
Line 1064: $VEL_FILT[6]=2.5
Line 1078: $APO_DIS_PTP[6]=90.0
Line 1100: $SEQ_CAL[6]='B00100000'
Line 1121: $SERV_OFF_TM[6]=84
Line 1134: $MS_DA[6]='B0000'
Line 1151: $SERVOMODE[6]='B0000'
Line 1170: $IN_POS_MA[6]=0.1
Line 1183: $TIME_POS[6]=512
Line 1197: $FOL_ERR_MA[6]=20.0
Line 1211: $COM_VAL_MI[6]=150.0
Line 1228: $SOFTN_END[6]=-350.0
Line 1241: $SOFTP_END[6]=350.0
Line 1254: $AXWORKSPACE[6]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0, E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
Line 1290: INT $AXIS_SEQ[6] ;UMORDNUNG VON ACHSE[I] (I=1:A1,I=7:E1)
Line 1296: $AXIS_SEQ[6]=6
Line 1303: $AXIS_DIR[6]=-1
Line 1310: REAL $INC_AXIS[6] ;SCHRITTMASS ACHSSPEZIFISCH
Line 1316: $INC_AXIS[6]=0.002
Line 1317: REAL $INC_EXTAX[6] ;SCHRITTMASS ACHSSPEZIFISCH EXTERNE ACHSEN
Line 1323: $INC_EXTAX[6]=10.0
Line 1324: REAL $INC_CAR[6] ;SCHRITTMASS KARTESISCH WERKZEUGBEZOGEN
Line 1330: $INC_CAR[6]=50.0
Line 1359: $SPC_KIN[6]=0.0
Line 1458: $ASR_ERROR[6]=0.0
Line 1471: $RAT_EXT_ENC[6]={N 0,D 1}
Line 1484: $AX_ENERGY_MAX[6]=602
Line 1497: $BRK_ENERGY_MAX[6]=1650
Line 1510: $BRK_COOL_OFF_COEFF[6]=9.16
Line 1523: $BRK_TORQUE[6]=12.0
Line 1613: $AXIS_JERK[6]=57013.3getting Parts&Docs is a good idea. Even though a lot of things are on Xpert, i still use it all the time (both KRC2 and KRC4 versions).
there is a reason it was included with every robot. Btw. there is no excuse to not have it, you can contact KUKA and ask for it. in the worst case you may have to spend few bucks. this is something that can be prevented by taking care of property.. and if buying used robot, making sure that all documentation is included as it should. one does not order burger and shrugs it off of meet patty etc is missing. and when you do, there is exactly one person responsible for that,
motor torque is directly related to motor current. you can limit the current and that will limit the torque.
so what you are after is
$CURR_LIM[7] = 100 ; %, commanded current limit. too high value can cause motor or gearbox damage
$CURR_MON[7] = 6.7 ; A, permissible motor current
btw, keep in mind values of motor constants:
$KT_MOT[7]=1.16 ; Nm/A, torque to current ratio at motor rated speed (for example running motor drawing 2A would produce torque of 2.32Nm)
$KT0_MOT[7]=1.2 ; Nm/A, torque to current ratio at motor standstill (for example not moving motor drawing 2A would produce torque of 2.4Nm)
just use algebra and basic operations. or use Cunningham's Law
where did you get the value 16A from?
why do you think this is somehow motor parameter value?
ah, my bad, $CURR_MAX[7] is a drive parameter of course... and 3.24A is determined from motor KT values. seems good. may want to adjust the $CURR_MON[] as well so the controller faults if the current limit is exceeded.
i am confused... you are looking at Kuka motor data pdf? which 2.3kW motor you are looking at? didn't you say that this motor is not found there?
btw. kuka calls different motors "H" type. the older ones are 1FK6 series, newer ones are 1FK7 series. so here is complete MADA for KR2150 (early 2000).
KT is 1.16
btw. if damage is your concern, ask KUKA for correct parameters or just get newer motor which is better documented. this particular one was used on robot arm (already parametrized by MADA), so it was not meant for external axes that users may need to choose parameters. this is probably why data on this unit is scarce. another option is to ask yourself if you really need to drive this very hard. i mean if the gear unit cannot take the motor torque and you are limiting torque, why not set it conservatively and see if it does the job? if it does, splitting hairs is not worth the hassle. i don't see KRC2 any more but if you can find startup and commissioning documentation on KMC, that would explain a lot of things.
finally you can pick any motor (non KUKA) and ask KUKA to evaluate it and give you the parameters for it. this will cost you though.
KUKA data-sheet motor 00-104-695:
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