Non-standard motors for external axes

Hi All,

I have a question regarding the use of non-standard motors for external axes. So far, Kuka (UK) has not been able to answer my question .

The smallest compatible servo motor offered by KUKA is MG_8_40_45_S0 (Art No. 00-131-269).

This motor is basically a Siemens 1FK7 motor (exact part No. is 1FK7022-5AK71-1YH3-Z S24).

Looking at the 1FK7 data sheet (attached) …

There is a smaller motor (20 mm shaft height) within the range: 1FK7015-5AK7. This is the size I want to use. It also is rated for 600 VDC.

Question: can this motor be used in combination with the KUKA Servo Drives (KSD) (KSPsr12 / KSP20 / KSP40)?

I found a document on using non-standard motors with KRC-2 (MotorenSpec V2.4en_23_04_2003.doc)? Is there a similar document available for KRC-5 (have the requirements changed?). Does the 1FK7015-5AK7 satisfy these requirements?

In general, I need a 40 mm frame servo that can be used as an external axis (i.e. kinematically integrated). There will actually be up to 5 external axes for this application. Can anyone suggest a solution?

Regards, Arthur

I attach some additional information that may be of use.

... I attach some additional information that may be of use.

Thanks panic mode.

Is lowering the current limits done in workvisual?

Does anyone have a manual describing the available motors compatible with the KR C5/4 controllers? There appears to be nothing on Kukas website.

This is really helpful, thanks.

"KUKA has document on this (servo motors) so one can use that as a reference" any idea which technical manual I can consult for that information?

This is where I'm at:

As mentioned above:

KUKA MG_8_40_45_S0 (Art No. 00-131-269)
... is equivalent to ...

Siemens 1FK7022-5AK71-1YH3-Z S24

If I modify the part number to get a smaller frame size I have:

1FK7015-5AK71-1YH3-Z S24

which is shown on the Siemens website:

https://mall.industry.siemens.…=1FK7015-5AK71-1YH3-Z+S24

... but ...

I have reviewed all of the following threads on this forum (post #):

126156, 89420, 121217, 137555, 138202, 33071, 173498, 183253.

It appears some of the part numbers can't be identified within the Siemens catalogue (they are proprietary to KUKA).

"Y" "Z S24"

Seems like I have two options:

- Request KUKA/Siemens to produce a motor to the specification: 1FK7015-5AK71-1YH3-Z S24 (seems unlikely to succeed)

- Choose a different resolver type and adjust the parameters accordingly in WorkVisual. I don't have experience of using Workvisual so I'm not sure if this would be feasible?

I have been chasing up Kuka and Siemens but neither is being cooperative in sharing info about the resolver type "Y" and whatever "Z S24" is.

Here's an updated list of resolvers compatible with KR C4 and some additional documentation. I've received a quote from Kuka as panic mode advised. Since Kuka wont release a list of motors they have already tested (own-goal?) next step will be to look around existing motor manufacturers to see if they have a motor within spec. I'm patient

Quote from panic mode

I would focus on part number portion before Z

Update: Thanks for the clue panic mode. I've done some more digging and I think the resolver type "S" may be compatible with the Kuka servo drive modules.

Here's what I'm basing this assumption on:

Kuka Art No.: 0000-136-925 (Designation: MG_11_60_44_S0) ...

... has the following Siemens Part No.:

1FK7032-5AK71-1SH3-Z S11

So If I were to pick a Siemens motor with the Part No.:

1FK7015-5AK71-1SH3

... do you think I can be reasonably confident I could drive the motor. As you mention below, I would be able to lower the current limits in WorkVisual.

Quote from panic mode

if the motor is same family (same voltage and same feedback type) and just smaller size, it should be no problem as long as you lower the current limits. larger drives can drive motors that need less current.

I've also compared the Kuka RDC Specification (from the above document KR_C4_Anforderungen_Motore_en.pdf) with the Siemens multipole resolver (Type S). For reference, see: "1fk7_g2_config_man_0218_en-us.pdf"

https://support.industry.sieme…8_en-US.pdf?download=true).

I don't have all the resolver parameters but at least the ones below match up.

What do you think my success rate will be with this approach? Do you think the 1FK7015-5AK71-1SH3 will work? There's no way of finding out what the "Z S11" refers to. If it is only KUKA branded name-plate that would be fine, but I'm wondering if the connectors will be different.

Hi,

This issue has been resolved. I have two solutions:

I've been told that a Tamagawa motor with flange dimensions of 40x40 mm will be available in the KUKA supplementary axis portfolio for the KR C5 (from approx. April 2023). This is roughly in-line with my project time-line, so might be worth the wait.

If I wanted to build the cell right away, I could get a Siemens 1FK7015-5AK74-1SH3-Z X01. I could send the motor to Kuka and have them:

- Create motor/servo files

- Add a KukaDrive element to the WorkVisual catalogue.

- Create ExternalKinematics catalog element with WorkVisual catalog editor and KukaDrive element

- Create test project in WorkVisual

- Commission and test the motor

The costs are lower because it is a Siemens motor rather than a third-party motor validation. For anyone looking to do the same, you need to contact Kuka Product Support in Germany.

Thank you panic mode for your help!