Motor resolver poles in KRC4 machine.dat

    Hello !f

    I want to add from WOV the external kinematic drive for a rotary table using a KSP 3x20 to manage the motor.

    My motor is a Kuka 1FK6081, 2.83 KW, with 3 poles.

    From kinematic drives closest is ME_110_130_40_S0at 2.4 kw but 4 poles .

    Because in machine.dat on KSS 8.6 there is anymore visible variable RAT_MOT_ENC[7]={N1,D3} is any possibility choosing ME_110_130_40_S0 but to change its poles number?

    May I add in machine dat:

    DECL FRA $RAT_MOT_ENC[12] ;MOTOR:ENCODER RATIO ;AXIS[I] (I=1:A1,I=7:E1) N = NUMERATOR, D = DENOMINATOR

    $RAT_MOT_ENC[7]={N 1,D 3}

    [12] could be [1] or need to add all axis ?

    Thank you

  • robot-cnc October 5, 2024 at 2:11 PM

    Changed the title of the thread from “Motor rsolver poles in KRC4 machine.dat” to “Motor resolver poles in KRC4 machine.dat”.

    1FK6083-xxxx was known as Type C motor.

    Product and Solution: Servomotor TYPE C/1FK6081 (kuka.com)

    I2 was used with KRC2. With KRC4, 1FK7 replaced 1FK6. And while similar, they are not exactly the same. closest match in KRC4 motors is C0 (1FK7083) which is found as ME_160_130_30_S0 in WoV catalogs.

    Note, both C and C0 motors exceed capacity of KSP 3x20, they need KSP 3x40 or KS 3x64.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    ME_160_130_30_S0 (3kw) has 4 poles while 1FK 6081(2.83kw) has 3 poles.

    Closer is MG_120_110_25_S0 which has 3 poles with 2.2 KW and I used previously with a KSP 3x40.

    Working very well .

    Now I want to control it with a KSP 3 x 20 even I downgrade from 2.83 kw at 2.4 kw as it has ME_110_130_40_S0 which allow KSP3 x20 as Kuka Motor Data KRC4 says, the problem is having 4 poles.

    I wonder if it can be changed pole pair in KRC/Roboter/Config/User/Common/Motor/Motor"name".xml

    I changed the motor poles pair number in motor "name".xml , 3 instead 4.

    And also ecoder ratio [3/1] in same file.

    The motor xml file must be identified that belong to rotary table motor.

    Data changed was accepted and saved. I will check positiining precision after gearbox assembly.

    But Motor.xml file changes for resolver pole numbers has no effect.

    It can be changed though going in Safety Configuration , Machine Data View, there can be changed the nominator for E1 motor pole pairs.

    I tested the precision of E1 in positioning and is perfect changing 3 poles pairs instead 4.

    If you run a PTP line with E1 90deg. table stop perfect with 3 poles pairs while if 4 pairs are used , table moves more than 90 deg.

    Or, it is possible to set this encoder nominator for E1 in WOV at Local Safety Configuration as is shown in here:

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