Manual Elétrico 0011005068 - Splinfo

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KUKA
Roboter GmbH
Zugspitzstraáe 140
D-86165 Augsburg KRC2 edition2005
Tel.: 0821/797-0
Projektbezeichnung.................... KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

Project designation
Projektnummer......................... 0011005068
Project number
Hersteller (Firma).................... KUKA Roboter GmbH

Manufacturer (Firm)
Anschluáspannung [V].................. 3x 400 50/60Hz

Supply voltage [V]
Leistung [kVA]........................ -
Power [kVA]
Sicherung [A]......................... 25
Fuse [A]
Gewicht ca. [kg]...................... 311

Weight approx. [kg]
Schutzart............................. IP 54
Degree of protection
Schaltplan erstellt am Anzahl der Seiten

Circuit diagram edited at .......... 04.Feb.2009 No. the Pages ............ 88
2
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Projekt Benennung Baumuster / Zeichn.Nr.
Datum Name
erstellt28.Nov.2007 MST KRC2-05 AK24 AS 2/32+2/16-S Deckblatt 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT COVER SHEET Blatt: G 1 von 45 Ver.Dok.
PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr
Zustand ŽB MAL Žnder.Nr. Datum Name gespeichert unter: Zeichnungsnummer Roboter GmbH Augsburg Schutzvermerk DIN ISO 16016 beachten! 00
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Inhaltsverzeichnis KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

TABLE OF CONTENTS
Seite Seitenbenennung Erstellt durch Žnderung Datum durch
PAGE PAGE DESCRIPTION CONSTR. BY MODIF. DATE BY
Deckblatt
=KRC2+G/1 28.Nov.2007 MST
COVER SHEET
Inhaltsverzeichnis
=KRC2+G/2 MST
Table of contents
Inhaltsverzeichnis
=KRC2+G/2a MST
Table of contents
Inhaltsverzeichnis
=KRC2+G/2b MST
Table of contents
Inhaltsverzeichnis
=KRC2+G/2c MST
Table of contents
Inhaltsverzeichnis
=KRC2+G/2d MST
Table of contents
šbersicht Sicherungen
=KRC2+G/3 09.Jun.2005 Stelzle
OVERVIEW FUSE
šbersicht Sicherungen
OVERVIEW FUSE
CI3-Board
CI3-BOARD
CI3-Board
CI3-BOARD
šbersicht Steuerkreis
=KRC2+G/7 09.Jun.2005 MST
OVERVIEW CONTROL CIRCUIT
šbersicht KPS-Steuerkreis
OVERVIEW KPS CONTROL CIRCUIT
šbersicht CI3-Board
OVERVIEW CI3-BOARD
OVERVIEW CI3-BOARD
OVERVIEW CI3-BOARD
OVERVIEW CI3-BOARD
OVERVIEW CI3-BOARD
OVERVIEW CI3-BOARD
OVERVIEW CI3-BOARD
šbersicht Versorgung + Sicherheit
=KRC2+G/16 09.Jul.2004 M•ller
OVERVIEW SUPPLY + SAFETY
1 2a
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Datum Name
erstellt MST KRC2-05 AK24 AS 2/32+2/16-S Inhaltsverzeichnis 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Table of contents Blatt: G 2 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9

TABLE OF CONTENTS
šbersicht Achse
=KRC2+G/17 11.Sep.2003 M•ller
OVERVIEW AXIS
šbersicht Steuerung
OVERVIEW CONTROL
Verdrahtungs•bersicht Schnittstelle
WIRING DIAGRAM INTERFACE
=KRC2+G/20 22.Nov.2004 M•ller
=KRC2+G/21 27.Apr.2000 M•ller
OVERVIEW CONTROL
EINSPEISUNG
MAINS-VOLTAGE
Verteilung AC400V
SUPPLY AC400V
Versorgung G1/G2
SUPPLY G1/G2
Versorgung Akku
SUPPLY ACCU
Versorgung PC
SUPPLY PC
Ballastwiderst. R1/R2
Ballast resist. R1/R2
šberwachung L•fter
MONITORING FAN
Motoranschluá Achse 1-3
MOTOR-CONNECTION AXIS 1-3
Bremsen Achse 1-6
BRAKES AXIS 1-6
Motoranschluá/Bremse Achse 7-8
MOTOR-CONNECTION/BRAKE AXIS 7-8
DSEAT Geberanschluá
DSEAT TRANSMITTER CONNECTION
DSEAT Geberanschluá
=KRC2+G/34 18.Jun.2002 DON
DSEAT TRANSMITTER CONNECTION
Interbus-S Verbindung A1-A6
INTERBUS-S CONNECTION A1-A6
Sicherheitslogik A1 / G1
SAFETY LOGIC A1 / G1
2 2b
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Datum Name
gepr•ft 04.Feb.2009 APR BM CI3 MPT Table of contents Blatt: G 2a von 45 Ver.Dok.
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TABLE OF CONTENTS
Sicherheitslogik KPS600
SAFETY LOGIC KPS600
A1 / Peripherie
A1 / PERIPHERY
A1 / Peripherie
=KRC2+G/39 12.Jul.2004 Peter
A1 / PERIPHERY
A1 / Peripherie
A1 / PERIPHERY
A1 / Peripherie
A1 / PERIPHERY
A1 / MFC3
MFC,KVGA / KCP
=KRC2+G/43 31.Mai.2007 M•ller
MFC,KVGA / KCP
=KRC2+G/44 29.Mai.2007 MST
Verdrahtung MFC-MPT
WIRING MFC-MPT
šbersicht Versorgung + Sicherheit
=KRC2+A/1 15.Apr.2003 DON
OVERVIEW SUPPLY + SAFETY
šbersicht Achsen
OVERVIEW AXIS
OVERVIEW CONTROL
=KRC2+A/4 13.Mai.2002 Peter
Versorgung GA1
SUPPLY GA1
LšFTER
FAN
Versorgung Antriebe
SUPPLY DRIVES
Ballastwiderstand RA1/RA2
BALLAST-RESISTOR RA1/RA2
šberwachung RA1
MONITORING RA1
=KRC2+A/10 13.Mai.2004 M•ller
Motoranschluá Achse 4
=KRC2+A/11 13.Mai.2004 M•ller
MOTOR-CONNECTION AXIS 4
2a 2c
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Datum Name
gepr•ft 04.Feb.2009 APR BM CI3 MPT Table of contents Blatt: G 2b von 45 Ver.Dok.
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TABLE OF CONTENTS
Bremsen Achsen
=KRC2+A/12 15.Apr.2003 DON
BRAKES AXIS
Bremse Achse 1-4
=KRC2+A/13 09.Jun.2004 M•ller
BRAKE AXIS 1-4
SBM2 NA1.1 + NA3.1
=KRC2+A/14 24.Jun.2003 PTR
SBM2 NA4.1
=KRC2+A/15 24.Jun.2003 PTR
Interbus-S Verbindung
=KRC2+A/16 15.Apr.2003 DON
INTERBUS-S CONNECTION
Interbus-S Verbindung
=KRC2+A/17 09.Jun.2004 SMR
INTERBUS-S CONNECTION
Sicherheitslogik AA1 / GA1
=KRC2+A/18 15.Apr.2003 DON
SAFETY LOGIC AA1 / GA1
AA1 / Peripherie, Sicherheit
=KRC2+A/19 15.Apr.2003 DON
AA1 / PERIPHERY, SAFETY
AA1 / Peripherie
=KRC2+A/20 15.Apr.2003 DON
AA1 / PERIPHERY
SICHERHEITSLOGIK AA1
=KRC2+A/21 15.Apr.2003 DON
SAFETY LOGIC AA1
Schrankansicht
=KRC2+B/1 09.Jul.2004 M•ller
CABINET VIEW
Schrankansicht
CABINET VIEW
Schrankansicht
CABINET VIEW
Schrankansicht
CABINET VIEW
Schrankansicht
CABINET VIEW
Steckerfeld
CONNECTOR PANEL
Steckplatzzuordnung KPC-Rahmen
=KRC2+B/7 16.Dez.2004 M•ller
SLOT ASSIGNMENT FOR KPC-RACK
T•rschnittstelle
=KRC2+B/8 02.Feb.2007 APR
Door interface
=KRC2+G-X11
=KRC2+K/1 04.Feb.2009 ARR
=KRC2+G-X11
2b 2d
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Datum Name
gepr•ft 04.Feb.2009 APR BM CI3 MPT Table of contents Blatt: G 2c von 45 Ver.Dok.
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TABLE OF CONTENTS
X20
X21
=KRC2+G-XA21
=KRC2+A-X9.1
=KRC2+A-X9.2
=KRC2+A-X9.3
=KRC2+A-X9.4
=KRC2+A-XA16
=KRC2+K/10 04.Feb.2009 ARR
2c 3
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Datum Name
gepr•ft 04.Feb.2009 APR BM CI3 MPT Table of contents Blatt: G 2d von 45 Ver.Dok.
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FUSE Wert Bedeutung

VALUE ACCEPTATION
AKKU
FAG3 10A
FA11
FA12
FA13
FA14
FA15
FA19
NETZTEIL GA1 ACCU
FA1 20A
FA1
POWER SUPPLY UNIT GA1
Netzteil GA1
FA11 2A
FAG3
POWER SUPPLY UNIT GA1
Netzteil GA1 Best•ckung der Umrichter
FA12 10A
POWER SUPPLY UNIT GA1 siehe Aufbauplan
LšFTER ASSEMBLY OF CONVERTER
FA13 4A
FAN SEE MOUNTING-PLAN
Versorgung AA1
FA14 7,5A SUPPLY AA1
Antriebe BREMSEN (SBM2)

FA15 5A FA19.2 FA19.2 10A BRAKES (SBM2)
DRIVES
BREMSEN
FA19 6A
BRAKES
Best•ckung der Umrichter

Versorgung PC
siehe Aufbauplan F15 7,5A SUPPLY PC
ASSEMBLY OF CONVERTER
Versorgung CI3 (KCP,RDW)
SEE MOUNTING-PLAN F16 4A SUPPLY CI3 (KCP,RDW)
2.RDW
F18 2A 2.RDW
AKKU
FG3 10A ACCU
F15
F16
F18
FG3
2d 4
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Datum Name
erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S šbersicht Sicherungen 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW FUSE Blatt: G 3 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
FUSE Wert Bedeutung

VALUE ACCEPTATION
NETZTEIL G1
F1 20A
POWER SUPPLY UNIT G1
NETZTEIL G2
F2 7A
POWER SUPPLY UNIT G2
L•fter Boden
F3 0,63A
FAN BOTTOM
Netzteil G1
F11 2A POWER SUPPLY UNIT G1
Netzteil G1
F12 20A POWER SUPPLY UNIT G1
Kabelkanal CABLE-CHANNEL
Beleuchtung
F13 2A ILLUMINATION
F1 F2 F3 Versorgung A1
F14 15A SUPPLY A1
XF14
F11
F12
F13
F14
F22
Multi-Power-Tap
F22 2A MULTI-POWER-TAP
F19
XF19
Bremsen Achse 1-6

F19 2A
BRAKES AXIS 1-6
3 5
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Datum Name
erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S šbersicht Sicherungen 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW FUSE Blatt: G 4 von 45 Ver.Dok.
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X2 X3
X18
X19
19-20
LED
LED
22-21
X4
X7
K3 CI3-Board
X6
K4
LED18-17
LED16
LED12
LED15
LED5
LED4
LED2
LED1
X5
LED27-28
LED14
F16
F12
F13
F10
F23
KY2
K9
X21
F2
LED9
X31
X1
X8 X16 X12
X22
4 6
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S CI3-Board 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT CI3-BOARD Blatt: G 5 von 45 Ver.Dok.
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CI3-Board CI3-Board
LED Farbe Bedeutung FUSE Wert Bedeutung

COLOUR ACCEPTATION VALUE ACCEPTATION
ROT Sicherungs•berwachung f•r F10
LED1
RED FUSE CONTROL FOR F10
ROT Sicherungs•berwachung f•r F13 DC24V L•fter•berwachung
LED2 F2 2A
RED FUSE CONTROL FOR F13 DC24V FAN CONTROL

LED4
LED5
GRšN 24V gepuffert

LED9
GREEN 24V BUFFERED
DC24V VCC-ESC
F10 3A
DC24V VCC-ESC
ROT Sicherungs•berwachung f•r F23 DC24V Schnittstelle VCC

LED12 F12 4A
RED FUSE CONTROL FOR F23 DC24V Peripherie Interface VCC
DC24V Schnittstelle VCC
F13 4A
DC24V Peripherie Interface VCC
GRšN 24V ungepuffert
LED14
GREEN 24V UNBUFFERED
GRšN 5V ESC-Knoten
LED15
GREEN 5V ESC Connection
ROT Sicherungs•berwachung f•r F2 DC24V Schnittstelle VCC
LED16 F16 7,5A
RED FUSE CONTROL FOR F2 DC24V Peripherie Interface VCC
GRšN ESC Busausgang KCP OK
LED17
GREEN ESC BUS OUTPUT KCP OK
ROT ESC Busausgang KCP Fehler
LED18
RED ESC BUS OUTPUT KCP FAULT
ROT ESC Busausgang KPS Fehler
LED19
RED ESC BUS OUTPUT KPS FAULT
GRšN ESC Busausgang KPS OK
LED20
GREEN ESC BUS OUTPUT KPS OK
GRšN ESC Busausgang Lokaler ESC-Knoten OK
LED21
GREEN ESC BUS OUTPUT LOCAL ESC-NODE OK
ROT ESC Busausgang Lokaler ESC-Knoten Fehler
LED22
RED ESC BUS OUTPUT LOCAL ESC-NODE FAULT
Versorgung RDW
F23 2A
SUPPLY RDW
ROT ESC Busausgang MFC Fehler

LED27
RED ESC BUS OUTPUT MFC FAULT
GRšN ESC Busausgang MFC OK
LED28
GREEN ESC BUS OUTPUT MFC OK
5 7
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Datum Name
erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S CI3-Board 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT CI3-BOARD Blatt: G 6 von 45 Ver.Dok.
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KCP
ANZEIGE Tastatur ESC

DISPLAY
CAN Master
X19 X19 X19
PC MFC3
KSD KSD KSD KSD
KVGA
ESC CAN DSE
Umrichter 1 Umrichter 2 Umrichter 3 Umrichter 4
IBS
Interbus-LWL
X2 CONVERTER 1 CONVERTER 2 CONVERTER 3 CONVERTER 4
X13 X14 X13 X14 X13 X14 X13 X14

IBS IBS IBS IBS
Profibus
ST1 ST1 ST2

Connectorprint
ST6 ST6 ST3 X805
INTERBUS Antriebe/ Drives X121 X122

IBS
X18 X16 X3 X3 X21 X5 X5
CI3-Board X2 X14 KPS

X2 X14
ESC
X6 X123
X6 X123
+24V
-K1
X114
X114 X110 X110 X110 X7 X12
X31
INTERBUS LWL/Profibus
X6 X7 X12 X19 X22

-KE2
R1-/Trafotemperatur•berw.
Hauptschalter•berwachung
L•fter•berwachung Boden
R1-/TRAFO TEMP CONTROL.
BREMSEN
M
BRAKES
M
MAIN SWITCH CONTROL

E1 E2
FAN CONTROL BOTTOM

3
~
USV
UPS
Peripherie
Interbus
L•fter Dach L•fter Boden
LWL
FAN TOP FAN BOTTOM
Profibus
6 8
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Datum Name
erstellt09.Jun.2005 MST KRC2-05 AK24 AS 2/32+2/16-S šbersicht Steuerkreis 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW CONTROL CIRCUIT Blatt: G 7 von 45 Ver.Dok.
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KPS
Interbus-S Slave IN Interbus-S Slave OUT
X123_ 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
X121_ 1 2 3 4 5 6 X122_ 1 2 3 4 5 6 7 8
Br•cke auf Pin 6

DIN_SPS_SM1
DIN_SPS_SM2
DIN_SPS_SM3
DIn_SPS_GND
Bridge to Pin 6
RAE2 (B)
XK1-1
XK1-2
XK1-7
XK1-8
XK1-5
XK1-3
24V_LIM
AE2-
+5V
AE2+
+5V
BR13
KPS
Controller IBS
-K1
DOUT_AF
DOUT_AA
IBS_AF
ESC
VCC_CI
GND_CI
ESC OUT (A)
ESC OUT (B)

ESC IN (A)
ESC IN (B)
/TA24V (A)
/TA24V (B)
BA (AUTO)
BA (TEST)
RLNA (A)
RLNA (B)
24V_ESC
24V_ESC
ENA (A)
ENA (B)
LNA (A)
LNA (B)
BS (A)
BS (B)
ZS (A)
ZS (B)
QE (A)
QE (B)
NA (A)
NA (B)
E2 (A)
E2 (B)
RELAIS
RELAY
GNDS
GNDS
AF
AA
X14_ 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
7 9
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S šbersicht KPS-Steuerkreis 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW KPS CONTROL CIRCUIT Blatt: G 8 von 45 Ver.Dok.
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CI3-Board ESC ext.
MFC3 KPS MFC3

X2_ 1 2 21 22 5 6 X6_ 1 2 5 6
X3_ 8 21 22 10 13 25 X3_ 23 11
ESC(A)
IN_MFC
ESC(B)
IN_MFC
ESC(A)_OUT_X6
ESC(B)_OUT_X6
24V_OUT1_ESC_CI
24V_OUT2_ESC_CI
ESC OUT MFC (A)
ESC OUT MFC (B)
ESC(B)_IN_X6
ESC(A)_IN_X6
24V_IN1_ESC_CI
24V_IN2_ESC_CI
ESC IN (A)
ESC IN (B)
ESC OUT (A)
ESC OUT (B)
QE (A)
QE (B)
24V_OUT1_ESC_CI
24V_OUT2_ESC_CI
24V_IN1_ESC_CI
24V_IN2_ESC_CI
ESC OUT KCP (A)
ESC OUT KCP (B)

ESC IN KCP (A)
ESC IN KCP (B)
QE(A)
QE(B)
X16_ 3 4 5 6 X5_ 1 2 6 5 X22_ 10 29
CC/CCC KCP PERIPHERIE

PERIPHERY
8 10
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S šbersicht CI3-Board 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW CI3-BOARD Blatt: G 9 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
CI3-Board
MFC3 KPS
X18_ X2_
25 20 21 8 9 19 23 24 15 17 13 25 16 18 14 26 20 27 29 28 30
RLNA (A)
RLNA (B)
LšFTER2 TACHO
NA (A)
NA (B)
ENA (A)
ENA (B)
LNA (A)
LNA (B)
24V_IN_6_MFC
24V_IN_7_MFC
ZS (A)
BS (A)
E2 (A)
ZS (B)
BS (B)
E2 (B)
AF
AF
AF
FAN2 TACHO
AA
K3 K4
+24V
TA24V(A) /11.4
TA24V(B) /11.3
K3 K3
K4 K4
24V
GND
SMD SMD
VCC_ungepuffert
VCC_ungepuffert
VCC_UNBUFFERED
LšFTER2 TACHO
LNA(A) OUTPUT
LNA(B) OUTPUT
24V_IN_6_MFC
24V_IN_7_MFC
LNA(A) INPUT
LNA(B) INPUT
FAN2 TACHO
NA(A)-KGD
NA(B)-KGD
ENA (A)
ENA (B)
ZS (A)
ZS (B)
NA(A)
NA(B)
BS(A)
E2(A)
BS(B)
E2(B)
GND
AF
AF
AF
AF
AF
AA
X31_ 1 2 3 X16_ 9 10 11 7 8 X8_ 1 2 4 3 6 5 X22_ 12 7 8 9 11 26 27 28 30 31 16 35 17 36
XE1_ 1 2 3
E1 CC/CCC PERIPHERIE
L•fter Dach PERIPHERY
FAN TOP
9 11
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
CI3-Board
KPS MFC3
X2_ 31 10 9 12 11
X3_ 16 17 18 19
/TA24V (B)
/TA24V (A)
RELAIS
BA (TEST)
BA (AUTO)
Input 1 MFC
Input 2 MFC
Input 3 MFC
Input 4 MFC
RELAY
TA24V(B)_KPS
+VCC
10.4/ TA24V(B) 10.4/ TA24V(A)
\TA24V(B)_Extern
\TA24V(A)_Extern
+VCC_KCP/MFC
Input 1 MFC
Input 2 MFC
Input 3 MFC
Input 4 MFC
BA (TEST)
BA (TEST)
BA (AUTO)
BA (AUTO)
X22_ 20-25 1-6 32 X4_ 1 2 3 4 5 6 7 8 9
BA_AUTO
BA_EXT
Peripherie
BA_T1
BA_T2
10 12
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
CI3-Board MFC3
(CAN1_Master)
X3_ 14 15 1
CAN HIGH
CAN LOW
CAN GND
CAN HIGH
CAN HIGH
CAN LOW
CAN LOW
CAN GND
X21_ 3 4 X7_ 2 3 4
KCP CAN
(CAN1_Slave) (CAN1_Slave)
11 13
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
CI3-Board
SMD -F23 SMD

2A
24V MFC
GND MFC
24V CAN
GND CAN
24V ESC
GND ESC
24V RDW
GND RDW
24V CAN
GND CAN
X1_ 3 4 X3_ 20 9 X7_ 5 1 X16_ 1 2 X19_ 3 4 X21_ 1 2
MFC CAN CC/CCC RDW KCP

Vcc gepuffert
GND gepuffert
Vcc BUFFERED
GND BUFFERED
12 14
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
CI3-Board
Vcc Filter /15.3
GND Filter /15.3

-F16 -F12 -F2 -F13
7,5A 4A 2A 4A
24V Filter Eingang
GND Filter Eingang

24V FILTER INPUT
GND FILTER INPUT

24V VCC 7,5A
24V VCC MFC3

24V VCC 4A
VCC L•fter
GND L•fter
24V VCC 4A
GND MFC3
24V VCC
VCC FAN
GND FAN
GND
GND
GND
GND
X1_ 1 2 X12_ 1 2 3 4 5 X16_ 11 12 X18_ 10 19 X31_ 1 3 X6_ 7 8 3 4
24V ungepuffert
GND ungepuffert
24V UNBUFFERED
GND UNBUFFERED
PERIPHERIE CC/CCC MFC3 LšFTER

PERIPHERY FAN ESC ext
13 15
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
CI3-Board
MFC3
Vcc Filter /14.8
GND Filter /14.8

X18_ 7
ESC-Reset
Spannungsfilter
VOLTAGE FILTER
ESC
K9 Reset
-F10
+VCC_CI 3A
+VCC_CI
+VCC_CI
GNDS_CI
GNDS_CI
GNDS_CI
+VCC_CI
GNDS_CI
+VCC_CI
+VCC_CI
GNDS_CI
GNDS_CI
7 12 24
X22_ 13 X2_ 3 4 7 8 X3_ X4_ 5 X5_ 4 3 X19_ 2
PERIPHERIE KPS MFC3 BETRIEBSARTEN-

WAHLSCHALTER
KCP RDW
PERIPHERY SELECTOR SWITCH
14 16
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
XS1 Einspeisung
MAINS-VOLTAGE
W123967
Q1
+A/1.2/ FA1
CU-BRIDGE
F1 F2 F3
W128528
W129940
19.3
A1/X31 KE2
W128527
W107250
XE1 XE2 Z1
E1 E2
L•fter Dach Boden

FAN TOPSIDE BOTTOM
W129830
G2 G1
L1
K1
PE
KPS 27 KPS600/20 ESC-UL
+ -
X114
X110
X6
X7
X7
X8
X7
X7
W111556X110
W111556
W129830 W129829
W129832
W129829
KE2
Q1 KE2
W129829
X2
-F11 -F12 -F15 -F16 -F18
W111556Q1 W111556X2
W129841
W129909
-F13 -F14
W129835
-FG3 F3
W129841
R1
W129829
X2
W111556
W128528
R2 FR1
19.1/ F16
18.1/ RDW/A
17.0/ N1X1
XE2
19.1/ F14
+A/1.1/ FA13
21.7/ F22
G3.1
AKKU
ACCU
FE2
Ballastwiderstand
BALLAST-RESISTOR
TEMPERATURE-RISE
PC
šBERTEMPERATUR
X961
G3.2
šberwachung
MONITORING
15 17
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S šbersicht Versorgung + Sicherheit 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW SUPPLY + SAFETY Blatt: G 16 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
JTAG-INTERFACE
PROGRAM CPLD
KPS600/20 ESC-UL
BREMSEN
BRAKES
ZK1
ZK2
ZK3
ZK
X10 X10 X10 X12 X17 X1
W106847
W129829 W129829 W129829
F19
W129829
16.9 -XN7
N1X1 W129829
N1 N2 N3 N4 N5 N6
X1 X1 X1 X1 X1 X1
KSD1-8 KSD1-8 KSD1-16 KSD1-8 KSD1-8 KSD1-8
X2 X2 X2 X2 X2 X2
PE
W106846
W107442
W107431
W107432
W107433
W107434
W107435
W107443
X20:A PE B C D E F
16 18
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt11.Sep.2003 M•ller KRC2-05 AK24 AS 2/32+2/16-S šbersicht Achse 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW AXIS Blatt: G 17 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
PC
DSEIBSAUX
DSEIBS
KVGA
MFC
X805 X4 X4 X6 X2
19.2/ X19
19.3/ A1/X18
GA1 /+A/3.4
W_ST2.1
W_ST2
W_ST1
W108521 W106848A1 W106848A2 W106848A3 W106848A4 W106848A5 W106848A6
A32.1 A32 G1 N1 N2 N3 N4 N5 N6
ST3.1 ST3 X121 X122 X13 X14 X13 X14 X13 X14 X13 X14 X13 X14 X13 X14
ST2.1 ST2 ST1
OUT
IN
IBS
KSD1-8 KSD1-8 KSD1-16 KSD1-8 KSD1-8 KSD1-8
KPS600/20 ESC-UL
ST4.1 ST4 ST6 X14

W129909
W129833
19.1/ A1/X3
16.8/ RDW/A A1/X19 /19.3 19.1/ A1/X2
XA21 X21
RDW RDW
RDW-CONNECTOR
RDW-CONNECTOR
RDW-Stecker
RDW-Stecker
17 19
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt11.Sep.2003 M•ller KRC2-05 AK24 AS 2/32+2/16-S šbersicht Steuerung 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW CONTROL Blatt: G 18 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
A1
CI3-Board
X1 X2 X3 X4 X5 X21 X18 X19 X31

W129841
W129837
W128529
W128531
W129833
W128527
16.3/ F14
16.8/ F16
18.3/ A1/X2
18.3/ A1/X3
18.3/ A1/X18
18.2/ A1/X19
16.1/ A1/X31
W132678
18.0/ X19
X19
KCP-CONNECTOR
KCP-Stecker
18 20
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt12.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Verdrahtungs•bersicht Schnittstelle 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT WIRING DIAGRAM INTERFACE Blatt: G 19 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
A1
CI3-Board
X6 X7 X8 X16 X22 X12
W131737
W129913
+A/4.1/ A1X6
W129913a
W129913b
W129913c
W107204
X11 /+A/4.1
X11
Han108
Peripherieschnittst.
PERIPHERAL INTERFACE
19 21
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt22.Nov.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Verdrahtungs•bersicht Schnittstelle 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT WIRING DIAGRAM INTERFACE Blatt: G 20 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
KPC-Rack
DeviceNet
DEVICENET
X801
16.3
F22
-F22
W129717
W129719
A30
X943.3
X943.2
X943.1
X942
X941
Multi-Power-Tap
20 22
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt27.Apr.2000 M•ller KRC2-05 AK24 AS 2/32+2/16-S šbersicht Steuerung 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW CONTROL Blatt: G 21 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
Einspeisung
MAINS-VOLTAGE
XS1
R1 S2 T3 N PE
Ringkern
TOROIDAL CORE Cu-Band
W111692
PE BOLT PE PE
SHIELD W123967 Schrankerdung Erdung T•re vorn

1 2 3 4 PE
AWG-NGNYE CABINET GROUNDING GROUNDING DOOR FRONT
5xAWG10
SHIELD X3 1
GROUND
1 3 5 13 21
Q1
32A
2 4 6 14 22
28.1
23.1/ L1
23.1/ L2
23.1/ L3
21 23
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S EINSPEISUNG 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MAINS-VOLTAGE Blatt: G 22 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
22.4/L1
22.4/L2
22.5/L3
AWG8 BK
Netzfilter
LINE
L1 L2 L3
LINE
Z1
LOAD
FA1:1 /+A/5.3
FA1:3 /+A/5.4
FA1:5 /+A/5.4
L1.1 L2.1 L3.1 PE
AWG8 BK AWG8
Netzfilter GNYE
LOAD W111683
PE
Cu-BRIDGE
1 3 5 1 3 5 1 3 5
13 21
F1 F2 F3 14 22
14-20A 7-10A 0,45-0,63A 28.6
20A 7A 0,63A
2 4 6 2 4 6 2 4 6
W129830 1 2 3
AWG-NGNYE
4xAWG16 PE
W128528KE2
1 2 3 AWG12
AWG-NGNYE
GNYE
4xAWG16
1 3 5 W111692X2
KE2
28.9 2 4 6
X2 PE
24.2/ L1_G1
24.2/ L2_G1
24.2/ L3_G1
24.1/ L1_G2
24.1/ L2_G2
24.1/ L3_G2
W128528E2
1 2 3 PE
AWG-NGNYE
7xAWG16
XE2 1 2 3 4
AWG18
W107250
GNYE
BK BU BN
E2
M
3
~
Versorgung G1 AC400V Versorgung G2 AC400V L•fter Boden

SUPPLY G1 AC400V SUPPLY G2 AC400V FAN BOTTOM
22 24
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Verteilung AC400V 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SUPPLY AC400V Blatt: G 23 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
Einspeisung G2, AC400V Einspeisung G1, AC400V PE

POWER SUPPY G2, AC400V POWER SUPPY G1, AC400V
23.5/ L1_G2 23.3/ L1_G1
23.5/ L2_G2 23.3/ L2_G1
23.5/ L3_G2 23.4/ L3_G1
X2 PE
PE W129940
AWG-NGNYE 1 2 3 PE
4xAWG12
AWG12
G1X2 A1 A2 B1 B2
GNYE
W129830E
G2 G1
L1 L2 L3 PE
AC400V
KPS27
KPS600/20 ESC-UL
24V_BATT
AKKU+
ACCU+
AKKU-
ACCU-
24V_P
GND
24V
GND
GND
DC24V DC24V
+ - + -
X7 1 2 3 4 X6 1 2 3 4
AKKU+ AKKU-
AWG10
BU 25.2 25.2
W129830
1 1 1 1
-F11 X2 1-F12 2 -F13 3 4 5 -F14 XF14 1
2A 2 20A 2 2A 2 15A 2
AWG12 AWG12
BU BU
W129829 W129831
45.7/ X2.3
36.1/ 0V
+A/5.2/ X2A:1
36.1/ 24V
+A/5.1/ FA13:1
45.7/ F22
23 25
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Versorgung G1/G2 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SUPPLY G1/G2 Blatt: G 24 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
AKKU- /24.3
AKKU+ /24.3
2 1 W129829a
AWG-NGNYE
3xAWG16
1
-FG3
10A 2
AWG16
BU
W129829
G3.1
12V/4Ah
Pb-Akku
AWG16
BU
W129829
G3.2
12V/4Ah
Pb-Akku
Akku
ACCU
24 26
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Versorgung Akku 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SUPPLY ACCU Blatt: G 25 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
KPS600/20 ESC-UL
24V_PC/10A
buffered
GND
SYNC_AR
24V_AR
GND
+ - + -
X7 7 6 8 5 9
W129829b 1 2 AWG16
BU
AWG-NGNYE
W129829
3xAWG16 verdrillte Leitung
twisted pair wire
Ringkern
TOROIDAL CORE
X2.1
1 1 X2.1 2 1 1
-F15 -F16 -F18
7,5A 2 4A 2 2A 2
W129835
AWG-NGNYE
3xAWG16 1 2
36.2/ 0Vbuff.
34.1/ RDW-/A
36.1/ 24Vbuff.
34.1/ RDW+/A
29.1/ AR+
29.1/ AR-
PC
X961 1 2
DC24V
0V
Versorgung KCP, CI3, RDW Versorgung Antriebe

SUPPLY KCP, CI3, RDW SUPPLY DRIVES
Versorgung PC
SUPPLY PC
25 27
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Versorgung PC 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SUPPLY PC Blatt: G 26 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
KPS600/20 ESC-UL
DIN_SPS_RSE1 I_IN
DIN_SPS_RSE2 I_IN
DIN_SPS_GND1 I_IN
ZK
+UG_RSE
-UG_RSE
R1_RB+
R2_RB+
R1_RB-
R2_RB-
AC400V
n.c.
n.c.
n.c.
n.c.
n.c.
U2
V2
W2
SHIELD
X8 1 2 3 4 5 6 X110 1 2 3 X9 2 4 1 3 5 X16 2 1 3
AWG12
BK
W129832
verdrillte Leitung
twisted pair wire R2 1
R2
R2 2
verdrillte Leitung
twisted pair wire
PE
AWG12
BK
W129832
R1 1
R1
R1 2
PE
Ballastwiderstand R1,R2
BALLAST-RESISTOR R1,R2
26 28
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Ballastwiderst. R1/R2 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Ballast resist. R1/R2 Blatt: G 27 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
GND (from RB_TEMP)

KPS600/20 ESC-UL
DIN_SPS_EMT1 or
DIN_SPS_EMT0 or
DIN_SPS_FANOK1
DIN_SPS_FANOK2
DOUT_SPS_FAN2
DOUT_SPS_FAN1
IN_SPS_GND2
IN_SPS_SM1
IN_SPS_SM2
IN_SPS_SM3
RB_TEMP
24V_PC
FAN+
GND
X114 1 4 5 6 7 8 3 2
X110 7 5 6 8 4
W111556X110 1 2 3 4
AWG-NGNYE AWG18
Br•cke entf„llt
5xAWG18 BU
bei Option Trafo
W111556
NO WIRE JUMPER
BY USING OPTION
TRANSFORMER
W111556Q1 1 2
AWG-NGNYE
X2 27 28 29 24 25 26
3xAWG18
AWG18 AWG16
BU BU W111556KE2 1 2
W111556X2 W128528 AWG-NGNYE
13
F3 3xAWG18
AWG18 23.7
13 BU Versorgung L•fter 14
Q1 SUPPLY FAN
W111556
22.5 14
Haupt- 4 5 W128528XE2
schalter
MAIN AWG-NGNYE
SWITCH 7xAWG16
XE2 5 6
AWG18
GY
W107250E2
1 1 A1
FR1 FE2 KE2
L•fter
2 2 A2
Boden
FAN
BOTTOM
šberwachung Q1 šbertemperatur R1 šbertemperatur L•fter E2

MONITORING Q1 TEMPERATURE-RISE R1 TEMPERATURE-RISE FAN E2
1 2 23.6
3 4 23.6
5 6 23.7
27 29
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S šberwachung L•fter 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MONITORING FAN Blatt: G 28 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
DC600V DC600V
ZK1_+UG
ZK1_-UG
ZK2_+UG
ZK2_-UG
KPS600/20 ESC-UL
n.c.
n.c.
X10 1 6 4 5 2 7
alle ZK Leitungen verdrillen

AWG14 AWG14
TWIST ALL ZK CONNECTIONS
BK BK
W129829 W129829
26.8/ AR+ AR+. /30.1

26.8/ AR- AR-. /30.1
PE PE PE
AWG14 AWG16 AWG14 AWG16 AWG14 AWG16

BK AWG12 BU BK AWG12 BU BK AWG12 BU
W129829 GNYE W129829 W129829 GNYE W129829 W129829 GNYE W129829
W129829 W129829 W129829
N1 N2 N3
X1 1 2 3 4 5 6 X1 1 2 3 4 5 6 X1 1 2 3 4 5 6
KSD UG UG PE PE 24V GND KSD UG UG PE PE 24V GND KSD UG UG PE PE 24V GND

1-8 + - 1-8 + - 1-16 + -
U V W PE U V W PE U V W PE
X2 4 3 2 1 X2 4 3 2 1 X2 4 3 2 1
Cu-Band Cu-Band Cu-Band

W129836 W129836 W129836
PE PE PE
W106846 W107431 W107432

AWG-N 1 2 3 AWG-N 1 2 3 AWG-N 1 2 3
3xAWG10 3xAWG10 3xAWG10
PE PE PE
X20 A1 A2 A3 B1 B2 B3 C1 C2 C3
Motor M1 U1
MOTOR M1 U1
Motor M1 V1
MOTOR M1 V1
Motor M1 W1
MOTOR M1 W1
Motor M2 U1
MOTOR M2 U1
Motor M2 V1
MOTOR M2 V1
Motor M2 W1
MOTOR M2 W1
Motor M3 U1
MOTOR M3 U1
Motor M3 V1
MOTOR M3 V1
Motor M3 W1
MOTOR M3 W1
28 30
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt07.Apr.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Motoranschluá Achse 1-3 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MOTOR-CONNECTION AXIS 1-3 Blatt: G 29 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
ZK3 _+UG
ZK3 _-UG
KPS600/20 ESC-UL
X10 3 8
AWG14
BK
W129829
-XN7 1
29.8/ AR+.
29.8/ AR-.
-XN7 2

BK BU BK BU BK BU
W129829 W129829 W129829 W129829 W129829 W129829
N4 N5 N6
X1 1 2 3 4 5 6 X1 1 2 3 4 5 6 X1 1 2 3 4 5 6

1-8 + - 1-8 + - 1-8 + -
X2 4 3 2 1 X2 4 3 2 1 X2 4 3 2 1
Cu-Band Cu-Band Cu-Band

W129836 W129836 W129836
PE PE PE
W107433 W107434 W107435

AWG-N 1 2 3 AWG-N 1 2 3 AWG-N 1 2 3
PE PE PE
X20 D1 D4 D6 E1 E4 E6 F1 F4 F6
Motor M4 U1
MOTOR M4 U1
Motor M4 V1
MOTOR M4 V1
Motor M4 W1
MOTOR M4 W1
Motor M5 U1
MOTOR M5 U1
Motor M5 V1
MOTOR M5 V1
Motor M5 W1
MOTOR M5 W1
Motor M6 U1
MOTOR M6 U1
Motor M6 V1
MOTOR M6 V1
Motor M6 W1
MOTOR M6 W1
29 31
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt07.Apr.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Motoranschluá Achse 4-6 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MOTOR-CONNECTION AXIS 4-6 Blatt: G 30 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
DC24V/7.5A
BR_1+
BR_1-
KPS600/20 ESC-UL
X12 1 2
1 2 W106847
AWG-NGNYE
3xAWG16
Ringkern
TOROIDAL CORE
1 3 5
F19 XF19 B-
2A
2 4 6
W107443 1 2 3 4
AWG-NGNYE
PE
5xAWG16 AWG16
BU Cu-Band
W107442
X20 D3 E3 F3 X20 D5 E5 F5 PE
GROUND
Masse
Bremse Achse 1-6

BRAKE AXIS 1-6
30 32
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Bremsen Achse 1-6 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT BRAKES AXIS 1-6 Blatt: G 31 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
DC600V DC600V
DC24V/1.5A
ZK4_+UG
ZK4_-UG
ZK5_+UG
ZK5_-UG
KPS600/20 ESC-UL
BR_2+
BR_2-
n.c.
n.c.
X17 1 2 3 4 5 6 X12 3 4
31 33
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Motoranschluá/Bremse Achse 7-8 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MOTOR-CONNECTION/BRAKE AXIS 7-8 Blatt: G 32 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
A1 DSE
CI3-Board Achse 1-8
AXIS 1-8
Lamp_signal
Ground_Lamp
Ground RDW
24V RDW
GND_RDW
GND_RDW
/CLKX
/CLKR
/FSX
CLKX
/FSR
CLKR
FSX
/DX
FSR
/DR
DX
DR
X19 1 2 3 4 X4 1 2 3 4 5 6 7 8 9 10 11 12 13 14
1 2 3 4 5 6 7 8 9 10 11 12 13 14 W_ST2
FLAKA
20AWG26
A32
ST2
1 2 3 4 5 6 7 8 9 10 11 12 13 14
1 2 W129833a
AWG-NGNYE
3xAWG20 ST4 11 3 4 12 5 13 9 1 10 2 14 6
SHIELD
BK BN BK RD BK OG BK YE BK GN BK BU W129833b
LiYCY-TP
6x2xAWG24
SHIELD
X21 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
/CLKX
/CLKR
CLKX
/FSR
/FSX
CLKR
GND
24V
FSR
/DR
FSX
/DX
DR
DX
32 34
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S DSEAT Geberanschluá 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT DSEAT TRANSMITTER CONNECTION Blatt: G 33 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
DSE
Achse 9.1-9.5
AXIS 9.1-9.5
GND_RDW
GND_RDW
/CLKX
/CLKR
/FSX
CLKX
/FSR
CLKR
FSX
/DX
FSR
/DR
DX
DR
X4 1 2 3 4 5 6 7 8 9 10 11 12 13 14
1 2 3 4 5 6 7 8 9 10 11 12 13 14 W_ST2.1
FLAKA
20AWG26
A32.1
ST2.1:1 2 3 4 5 6 7 8 9 10 11 12 13 14
ST4.1 11 3 4 12 5 13 9 1 10 2 14 6
26.7/ RDW+/A
SHIELD
26.5/ RDW-/A
W129909a 2 1 BK BN BK RD BK OG BK YE BK GN BK BU W129909b
AWG-NGNYE LiYCY-TP
3xAWG18 6x2xAWG24
SHIELD
XA21 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
/CLKX
/CLKR
n.c.
CLKX
/FSR
/FSX
CLKR
n.c.
n.c.
GND
24V
FSR
/DR
FSX
/DX
DR
DX
33 35
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt18.Jun.2002 DON KRC2-05 AK24 AS 2/32+2/16-S DSEAT Geberanschluá 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT DSEAT TRANSMITTER CONNECTION Blatt: G 34 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
W106848A1 W106848A4
Interbus-S
OG WHOG GN WHGN BU WHBU C5F-P26 OG WHOG GN WHGN BU WHBU C5F-P26
INTERBUS-S
3x2xAWG24 3x2xAWG24
PC N1 N4
X13 1 2 3 4 5 6 X13 1 2 3 4 5 6
MFC3 DSE-IBS-C33
Interbus-S Master OUT KSD SHIELD Interbus-S Slave IN KSD SHIELD Interbus-S Slave IN
Geh„use Geh„use
1-8 HOUSING 1-8 HOUSING
GND_IBS
/MDO
/MDI
N.C.
MDO
MDI
SHIELD Interbus-S Slave OUT SHIELD Interbus-S Slave OUT
X4 15 16 17 18 19 20 X14 1 2 3 4 5 6 7 8 X14 1 2 3 4 5 6 7 8
15 16 17 18 19 20 W_ST2
FLAKA W106848A2 W106848A5
20AWG26 OG WHOG GN WHGN BU WHBU C5F-P26 OG WHOG GN WHGN BU WHBU C5F-P26
3x2xAWG24 3x2xAWG24
A32
ST2 N2 N5
15 16 17 18 19 20
X13 1 2 3 4 5 6 X13 1 2 3 4 5 6
KSD SHIELD Interbus-S Slave IN KSD SHIELD Interbus-S Slave IN

Geh„use Geh„use
1-8 HOUSING 1-8 HOUSING
SHIELD
ST3 1 2 3 4 5 6 7 8 SHIELD SHIELD

Interbus-S Slave OUT Interbus-S Slave OUT
X14 1 2 3 4 5 6 7 8 X14 1 2 3 4 5 6 7 8
OG WHOG GN WHGN BU WHBU

W108521
C5F-P26
3x2xAWG24 W106848A3 W106848A6
OG WHOG GN WHGN BU WHBU C5F-P26 OG WHOG GN WHGN BU WHBU C5F-P26
3x2xAWG24 3x2xAWG24
G1 N3 N6
X121 1 2 3 4 5 6 X13 1 2 3 4 5 6 X13 1 2 3 4 5 6
SHIELD Interbus-S Slave IN KSD SHIELD Interbus-S Slave IN KSD SHIELD Interbus-S Slave IN
Geh„use Geh„use Geh„use
HOUSING 1-16 HOUSING 1-8 HOUSING
SHIELD Interbus-S Slave OUT SHIELD Interbus-S Slave OUT SHIELD Interbus-S Slave OUT
X122 1 2 3 4 5 6 7 8 X14 1 2 3 4 5 6 7 8 X14 1 2 3 4 5 6 7 8
34 36
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt11.Sep.2003 M•ller KRC2-05 AK24 AS 2/32+2/16-S Interbus-S Verbindung A1-A6 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT INTERBUS-S CONNECTION A1-A6 Blatt: G 35 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
KPS600/20 ESC-UL
ESC OUT (A)
ESC OUT (B)

ESC IN (A)
ESC IN (B)
/TA24V (A)
/TA24V (B)
BA (AUTO)
BA (TEST)
RLNA (A)
RLNA (B)
24V_ESC
24V_ESC
ENA (A)
ENA (B)
LNA (A)
LNA (B)
BS (A)
BS (B)
ZS (A)
ZS (B)
QE (A)
QE (B)
NA (A)
NA (B)
E2 (A)
E2 (B)
RELAIS
RELAY
GNDS
GNDS
N.C.
N.C.
N.C.
AF
AA
X14 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
24Vbuff. /26.6
0Vbuff. /26.5
24V /24.8
0V /24.6
BN PK RD PK OG PK YE PK GN PK BU PK VT PK GY PK WH PK BK PK BN PK RD PK OG PK YE PK GN PK BU PK VT PK
W129837
FLAKA-F
17x2xAWG28
1 2 W129841b
W129841a
1 2 AWG-NGNYE
AWG-NGNYE
3xAWG14 3xAWG18
Ringkern
TOROIDAL CORE
A1
X1 1 2 3 4 X2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
24V ungepuffert
24V UNBUFFERED
0V ungepuffert
0V UNBUFFERED
24V gepuffert
24V BUFFERED
0V gepuffert
0V BUFFERED
ESC OUT (A)
ESC OUT (B)
+VCC_KCP/CI
+VCC_KCP/CI
GNDS_KPS/CI
GNDS_KPS/CI
ESC IN (A)
ESC IN (B)
/TA24V (A)
/TA24V (B)
BA (AUTO)
BA (TEST)
RLNA (A)
RLNA (B)
ENA (A)
ENA (B)
LNA (A)
LNA (B)
BS (A)
BS (B)
ZS (A)
ZS (B)
QE (A)
QE (B)
NA (A)
NA (B)
E2 (A)
E2 (B)
RELAIS
RELAY
N.C.
N.C.
N.C.
AF
AA
CI3-Board
35 37
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Sicherheitslogik A1 / G1 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SAFETY LOGIC A1 / G1 Blatt: G 36 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
G1
KPS600/20 ESC-UL
Sicherheitslogik
Br•cke auf Pin 6

Bridge to Pin 6
SAFETY LOGIC
DIN_SPS_SM1
DIN_SPS_SM2
DIN_SPS_SM3
DIn_SPS_GND
RAE2 (B)
24V_LIM
XK1-1
XK1-2
XK1-7
XK1-8
XK1-5
XK1-3
n.c.
n.c.
n.c.
AE2+
n.c.
n.c.
AE2-
X123 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
36 38
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Sicherheitslogik KPS600 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SAFETY LOGIC KPS600 Blatt: G 37 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
A1
CI3-Board
24V_EINGANG_FILTER
GND_EINGANG_FILTER
24V_UGP_4A_F13_SI
24V_INPUT_FILTER
GND_INPUT_FILTER
GND_UNGEPUFFERT
VCC_ungepuffert
GND_UNBUFFERED
VCC_UNBUFFERED
ESC(B)_OUT_X6
ESC(A)_OUT_X6
ESC(A)_IN_X6
ESC(B)_IN_X6
NA(A)-KGD
NA(B)-KGD
LšFTER2
AF-X16
AF-X8
NA(A)
NA(B)
FAN2
GND
X6 1 2 3 4 5 6 7 8 X8 1 2 3 4 5 6 X31 1 2 3
AWG20
BU
W131737
OUT B /+A/19.2 W128527

AWG-NGNYE 1 2 3
OUT A /+A/19.2
4xAWG18
IN A /+A/19.2 XE1 1 2 3
IN B /+A/19.1
RD WH BU
E1 M
L•fter Dach
BK RD BK YE W129913a
FAN TOP
LiYCY-TP
4x2xAWG20
X11/88 /+A/19.3
X11/89 /+A/19.4
X11 88 89 106 107

24V_EINGANG_FILTER
GND_EINGANG_FILTER
24V_UGP_4A_F13_SI
24V_INPUT_FILTER
GND_INPUT_FILTER
GND_UNGEPUFFERT
GND_UNBUFFERED
37 39
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt12.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S A1 / Peripherie 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT A1 / PERIPHERY Blatt: G 38 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
A1
CI3-Board
24V_UGP_7,5A_F16_SI
24V_UGP_4A_F12_SI
GND_ungepuffert
GND_ungepuffert
GND_ungepuffert
GND_UNBUFFERED
GND_UNBUFFERED
GND_UNBUFFERED
N.C.
N.C.
N.C.
N.C.
N.C.
7,5A 4A
X12 1 2 3 4 5 X12 6 7 8 9 10
1 2 3 4 W107204 1 2 3 4 W129913c
AWG-NGNYE AWG-NGNYE
5xAWG18 5xAWG18
X11 90 36 72 18 X11 30 29 12 11
38 40
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt12.Jul.2004 Peter KRC2-05 AK24 AS 2/32+2/16-S A1 / Peripherie 0011005068
0 1 2 3 4 5 6 7 8 9
A1
CI3-Board
24V_OUT1_ESC_CI
24V_OUT2_ESC_CI
VCC_ungepuffert
VCC_ungepuffert
24V_IN1_ESC_CI
24V_IN2_ESC_CI
VCC_UNBUFFERED
VCC_UNBUFFERED
VCC_gepuffert
GND_gepuffert
VCC_BUFFERED
GND_BUFFERED
24V_IN_6_MFC
24V_IN_7_MFC
AF_X22
AF_X16
X16 1 2 3 4 5 6 7 8 9 10 11 12
AWG20
BU
W129913
39 41
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
A1
CI3-Board
\TA24V(A)_Extern
\TA24V(A)_Extern
\TA24V(A)_Extern
\TA24V(A)_Extern
\TA24V(A)_Extern
\TA24V(A)_Extern
\TA24V(B)_Extern
\TA24V(B)_Extern
\TA24V(B)_Extern
\TA24V(B)_Extern
\TA24V(B)_Extern
\TA24V(B)_Extern
LNA(A)_I
LNA(B)_I
IN_1_24V
LNA(A)_O
LNA(B)_O
+VCC_CI
ENA(A)
ZS1(A)
AF/X11
ENA(B)
ZS1(B)
AA/X11
BS(A)
QE(A)
E2(A)
BS(B)
QE(B)
E2(B)
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
N.C.
X22 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
AWG22 AWG22
BU BU
W129913 W129913
W129913b BK WH RD GN OG BU WH RD GN OG BU BK RD GN BU BK WH OG BU RD OG BK WH RD GN OG BU
SRYD321C BK BK BK BK BK WH WH WH WH RD RD RD RD GN GN WH BK BK BK BK BK
32xAWG22 RD RD WH WH WH WH
PE
AWG10
Cu-Band
W107226
PE
X11 1 5 7 38 41 4 6 8 50 42 21 3 48 47 19 23 25 39 43 22 24 26 51 44 20 2 46 X11
40 42
0 1 2 3 4 5 6 7 8 9
Datum Name
41
Zustand ŽB
0
0
MAL Žnder.Nr.
Datum
Name
1
1
PLOTT
MFC3
A1
Datum
gespeichert unter:
04.Feb.2009
gepr•ft 04.Feb.2009
erstellt13.Jul.2004
26xAWG26
SRYD321C
W128531
X2
X18
APR
24V_OUT_T0 24V_OUT_0-MFC
Name
Peter
2
2
1
1
BK
CI3-Board
2
2
WH
Anlage
Projekt
3
3
RD
KRC2
Zeichnungsnummer
4
4
GN
Power_SSB +5V
5
5
OG
GND_SSB GNDK
3
3
6
6
BU
Ort
/ESC Reset Power ESC-Reset
G
7
7
BK
WH
BM CI3 MPT
TA24V(A) AF-X8
8
8
BK
RD
AF-Watchdog AF-MFC
9
9
BK
GN
-24V VCC-ungepuffert
KRC2-05 AK24 AS 2/32+2/16-S

VCC-UNBUFFERED
BK
OG
10
10
24V_IN_T4 24V_IN_4-MFC
4
4
BK
BU
11
11
WH
BK
12
12
/Safety-Signal-Error /Safety_Signal_Error
Roboter GmbH
WH
RD
13
13
/Lamp error /Lamp-Error

WH
GN
14
14
/Standalone /Standalone
WH
BU
15
15
Release active Release_Active
5
5
Augsburg
RD
BK
16
16
SSB_RES1 SSB_RES1
RD
WH
17
17
CLK_SYNC_HIGH Clock_Sync (High)
Benennung
RD
OG
18
18
GND GND_ungepuffert
GND_UNBUFFERED
RD
BU
19
19
GN
RD
20
20
6
6
GN
OG
21
21
Quit Lamp Error Quit-Lamp_Error

RD
WH
BK
22
22
Lamp Test Lamp_Test

RD
BK
WH
23
23
A1 / MFC3
Robot Select Robot-Select

WH
BK
RD
24
24
L•fter2 L•fter2
WH
BK
GN
25
25
CLK_SYNC_LOW Clock_Sync (Low)

7
7
WH
BK
OG
Schutzvermerk DIN ISO 16016 beachten!

26
26
Mat-Nr
Blatt:
G
8
8
Baumuster / Zeichn.Nr.
42
von
45
0011005068
9
9
Ver.Dok.
00
43
0 1 2 3 4 5 6 7 8 9
CI3-Board
KVGA A1
24V int. gepuffert

24V INT. BUFFERED
0V int. gepuffert
0V INT. BUFFERED
ESC OUT(B)
ESC OUT(A)
ESC IN(B)
ESC IN(A)
CAN+
CAN-
+VCC
GND
DISPLAY
X805 1 2 3 4 5 6
X21 1 2 3 4 X5 4 3 2 1 5 6
2x2xAWG26
3x2xAWG24
2x2xAWG24
3x2xAWG24
W132678a
W132678b
LIYCY-TP
W132678c
W132678d
LIYCYF
CAN
IBS
WHBU
BUWH
WHOG
OGWH
WH BU WH OG BK RD BK BN BK OG GN YE PK GY BN WH
KCP
X19 A B C D 11 13 12 14 1 2 9 10 3 4 5 6 7 8
SW_Selection(A)
SW_Release(B)
+24V SPG.KCP
+24V SPG.ESC
SHIELD SHIELD SHIELD SHIELD
ESC OUT (B)
ESC OUT (A)

ESC IN (B)
ESC IN (A)
DISPLAY +
DISPLAY -
KIR_TA(A)
KIR_TA(B)
SHIELD
SHIELD
SHIELD
SHIELD
T1(A)
T2(B)
CAN+
CAN-
GND
GND
42 44
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt31.Mai.2007 M•ller KRC2-05 AK24 AS 2/32+2/16-S MFC,KVGA / KCP 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Blatt: G 43 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
MFC3
ESC OUT(B)
ESC OUT(A)
ESC IN(A)
ESC IN(B)
GND_RS232
VCC_RS232
IN_1_24V
IN_2_24V
IN_3_24V
IN_4_24V
CAN_HIGH
GND_24V
GND CAN
CAN_LOW
Inputs
24V_IN
n.c.
GNDS
n.c.
n.c.
n.c.
n.c.
n.c.
RXD
RTS
TXD
CTS
X6 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
W_ST1 FLAKA 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
26xAWG26
A32
ST1:1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
24V_IN1_ESC_CI
ESC(A) OUT MFC
24V_IN2_ESC_CI
ESC(B) OUT MFC

ESC(B) IN MFC
ESC(A) IN MFC
GND_ESC_CI
24V_ESC_CI
24V_OUT2_
24V_OUT1_
CAN_HIGH
IN_1_24V
IN_2_24V
IN_3_24V
IN_4_24V
GND_CAN
GNDS_CI
+VCC_CI
CAN_LOW
GNDS_CI
ESC_CI
ESC_CI
NC
NC
NC
NC
NC
ST6 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
W128529 BK WH RD GN OG BU WH RD GN OG BU BK RD GN BU BK WH OG BU RD OG BK WH RD GN
SRYD321C BK BK BK BK BK WH WH WH WH RD RD RD RD GN GN WH BK BK BK
26xAWG26 RD RD WH WH
CI3-Board
A1
X3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
gepuffert
BA (TEST)
BA (TEST)
BA (AUTO)
BA (AUTO)
BUFFERED
IN_1_24V
IN_2_24V
IN_3_24V
IN_4_24V
CAN GND
+VCC_CI
24V DC
24V DC
CAN-
CAN+
GND
X7 1 2 3 4 5 X4 1 2 3 4 5 6 7 8 9
43 45
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt29.Mai.2007 MST KRC2-05 AK24 AS 2/32+2/16-S MFC,KVGA / KCP 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Blatt: G 44 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
PC
X2.3 /24.6
F22 /24.8
X801 5 4 3 2 1
1
R -F22
2A 2
W129717 RD WH BU BK 1 2 W129719
AWG22 AWG-N
2x2xAWG22 3xAWG18
DRAIN
DRAIN
DRAIN
DRAIN
CAN+
CAN-
CAN+
CAN-
CAN+
CAN-
CAN+
CAN-
24V
GND
24V
GND
24V
GND
24V
GND
A30
Multi-Power-Tap
X943.3 5 4 3 2 1 X943.2 5 4 3 2 1 X943.1 5 4 3 2 1 X942 3 2 1 X941 2 1
44 +A/1
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt27.Apr.2000 M•ller KRC2-05 AK24 AS 2/32+2/16-S Verdrahtung MFC-MPT 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT WIRING MFC-MPT Blatt: G 45 von 45 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
FA13 /+G/16.3
FA1 /+G/16.1
FA1
W114293
GA1
W114303
KPS600/20 ESC-UL
X114
X110
X6
X7
X7
X8
X7
W121695
W121695
W121695
W114296
W114296
W121695
-FAG3
-FA15
W121695
RA1
-FA11 -FA12 -FA13 -FA14 GA3.1 W121696

RA2
W114303
W121695
FR1
Ballastwiderstand
BALLAST-RESISTOR
TEMPERATURE-RISE
FA15
šBERTEMPERATUR
XA2 AR
FA14 GA3.2 2.1
W114295
3.3
W114302
AKKU
ACCU
EA1-EA2 EA3-EA7
LšFTER LšFTER
FAN FAN
+G/45 2
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S šbersicht Versorgung + Sicherheit 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW SUPPLY + SAFETY Blatt: A 1 von 21 Ver.Dok.
PLOTT 04.Feb.2009 Anlage KRC2 Ort A Mat-Nr
0 1 2 3 4 5 6 7 8 9
GA1
JTAG-INTERFACE
PROGRAM CPLD
KPS600/20 ESC-UL
BREMSEN
BRAKES
ZK1
ZK2
ZK3
ZK4
ZK5
JTAG
K1
X10 X10 X10 X12 X17 X17 X1
W121696
W121724m
W121696
W121696
1
FA19 FA19.2
W121696 W121696 W121696 2
W121696
W121724
1.7/ FA15
AR
NA1 NA2 NA3 NA4

XA2 XA5
X1 X1 X1 X1
NA1.1 NA2.1 NA3.1 NA4.1

KSD1-32 KSD1-16 KSD1-32 KSD1-16
SBM2 SBM2 SBM2 SBM2
X2 X2 X2 X2
X2 X3 X2 X3 X2 X3 X2 X3
W121724j W121724k W121724l
W121724a W121724b W121724c W121724d
PE PE PE PE
W121724i
W121724e
W121724f
W121724g
W121724h
W120034
W120034
W120034
W120034
W120034
W120034
W120034
W120034
LA1 LA2 LA3 LA4
X9.1 XA16 X9.2 X9.3 X9.4 X9.1 X9.2 X9.3 X9.4
1 3
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S šbersicht Achsen 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW AXIS Blatt: A 2 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
W114301 W117564 W117564 W117564 W117564

+G/18.1/ GA1
GA1 NA1 NA2 NA3 NA4
X13
X14
X13
X14
X13
X14
X13
X121
X122
OUT
IN
IBS KSD1-32 KSD1-16 KSD1-32 KSD1-16
X14
KPS600/20 ESC-UL
W114298
W129913
AA1
X3
X2
CI-Board
X1
X5 X21
W129913
W121695
1.3/ FA14
2 4
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S šbersicht Steuerung 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT OVERVIEW CONTROL Blatt: A 3 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
AA1
CI-Board
X10
X11
X12
X4
X6
X7
X8
X9
W129913
W129913
W129913d
W129913e
X11 A1X6
+G/20.1+G/20.1
3 5
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt13.Mai.2002 Peter KRC2-05 AK24 AS 2/32+2/16-S Verdrahtungs•bersicht Schnittstelle 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT WIRING DIAGRAM INTERFACE Blatt: A 4 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
FA1:1 /+G/23.5
FA1:3 /+G/23.5
FA1:5 /+G/23.5
Versorgung DC 24V VERSORGUNG GA1 AC400V
von Grundschrank von Grundschrank
SUPPLY DC 24V SUPPLY GA1 AC400V
FROM BASIC CABINET FROM BASIC CABINET
W114293a
AWG-NGNYE 1 2 3
FA13:1 /+G/24.8
X2A:1 /+G/24.7
4xAWG10
1 3 5
-PE
FA1
20-25A
XA PE
20A
2 4 6
W114293b AWG10
AWG-NGNYE 1 2 3 GNYE
4xAWG12 W114293
GA1X2 A1 A2 B1 B2
GA1
AWG10
BU
W114303
KPS600/20 ESC-UL
24V_BATT
AKKU-
ACCU-
AKKU+
ACCU+
24V
GND
GND
X6 1 2
X7 1 4 X7 3 2
+ - + - 2 1 W121695b
Cu-Br•cke AWG-NGNYE
1
-FAG3 3xAWG16
10A 2
AWG16
1 1 1 1 BU
AWG14
-FA11 -FA12 -FA13 -FA14 XA2 1 2 3 W121695
2 2 2 2 BU
2A 10A 4A 7,5A
W121695 GA3.1 -
GA3.1
12V/4Ah
Pb-Akku
Ringkern
TOROIDAL CORE
AWG16 AWG16 GA3.1 +
BU 1 2 W121695a BU AWG16
W114303 AWG-N W114303 BU
3xAWG16 W121695
6.1/ FA13:1
20.7/ L13
20.7/ 0V_A1
13.5/ XA2:2
6.1/ X2A:3
GA3.2 -
GA3.2
12V/4Ah
Pb-Akku
Versorgungs- Versorgungs- Akku
GA3.2 +
spannung L•fter spannung ESC ACCU
SUPPLY VOLTAGE SUPPLY VOLTAGE
4 FAN ESC 6
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S Versorgung GA1 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SUPPLY GA1 Blatt: A 5 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
FA13:1 /5.1
X2A:3 /5.3
Cu-Band Cu-Band Cu-Band Cu-Band
W114304 W114304 W114304 W111692
-PE -PE -PE -PE -PE -PE -PE -PE
Erdungsschiene Erdungsschiene Erdungsschiene Erdung Erdungsschiene Erdung Erdung Erdung

Grundschrank Aufsatzschrank Aufsatzschrank Montageplatte Aufsatzschrank Steckerfeld T•re T•re
XA2 5 6 7 8
1 2 W114295
AWG-NGNYE
3xAWG16
X10 1 4 7 10 2 5 8 11 3 6
AWG20 AWG20 AWG24 AWG24 AWG24 AWG24 AWG24

BU BU BU BU BU BU BU
W114302 W114302 W114295 W114295 W114295 W114295 W114295
+ - + - + - + - + - + - + -
EA1 M EA2 M EA3 M EA4 M EA5 M EA6 M EA7 M

24VDC 24VDC 24VDC 24VDC 24VDC 24VDC 24VDC
Innenl•fter EA1 Innenl•fter EA2 Auáenl•fter EA3 Auáenl•fter EA4 Auáenl•fter EA5 Auáenl•fter EA6 Auáenl•fter EA7
INTERNAL FAN EA1 INTERNAL FAN EA2 EXTERNAL FAN EA3 EXTERNAL FAN EA4 EXTERNAL FAN EA5 EXTERNAL FAN EA6 EXTERNAL FAN EA7
5 7
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S LšFTER 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT FAN Blatt: A 6 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
KPS600/20 ESC-UL
24V_PC/10A
buffered
GND
SYNC_AR
24V_AR
GND
+ - + -
X7 7 6 8 5 9
W121695d 1 2
AWG-NGNYE
3xAWG16
Ringkern
TOROIDAL CORE
1
-FA15 X2A 4
5A 2
10.1/ A_AR+
10.1/ A_AR-
Versorgung Antriebe
SUPPLY DRIVES
6 8
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S Versorgung Antriebe 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SUPPLY DRIVES Blatt: A 7 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
KPS600/20 ESC-UL
DIN_SPS_RSE1 I_IN
DIN_SPS_RSE2 I_IN
ZK
+UG_RSE
-UG_RSE
R1_RB+
R2_RB+
R1_RB-
R2_RB-
AC400V
n.c.
n.c.
n.c.
n.c.
n.c.
U2
V2
W2
X8 1 2 3 4 5 6 X110 1 2 3 X9 2 4 1 3 5 X16 2 1 3
AWG12
BK
W114296
RA2 1
RA2
RA2 2
PE
RA1 1
RA1
RA1 2
PE
Ballastwiderstand RA1,RA2
BALLAST-RESISTOR RA1,RA2
7 9
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S Ballastwiderstand RA1/RA2 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT BALLAST-RESISTOR RA1/RA2 Blatt: A 8 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
schnelles Messen
GND (from RB_TEMP)

FAST
KPS600/20 ESC-UL MEASURING
DIN_SPS_EMT1 or
DIN_SPS_EMT0 or
DIN_SPS_FANOK1
DIN_SPS_FANOK2
DOUT_SPS_FAN2
DOUT_SPS_FAN1
IN_SPS_GND2
IN_SPS_SM1
IN_SPS_SM2
IN_SPS_SM3
RB_TEMP
24V_PC
FAN+
GND
X114 1 4 5 6 7 8 3 2
X110 5 6 7 4 8
AWG18 AWG18
BU BU
W121695 W121695
W114296 1 2
AWG-NGNYE
3xAWG18
1
FRA1
2
šbertemperatur RA1
TEMPERATURE-RISE RA1
8 10
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S šberwachung RA1 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MONITORING RA1 Blatt: A 9 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
DC600V
ZK1_+UG
ZK1_-UG
KPS600/20 ESC-UL
n.c.
n.c.
X10 1 6 4 5

AWG14
BK
W121696
ZK+ /11.1
ZK- /11.1
7.8/ A_AR+ A_AR+ /11.1

7.8/ A_AR- A_AR- /11.1
PE PE PE

BK AWG12 BU BK AWG12 BU BK AWG12 BU
W121696 GNYE W121696 W121696 GNYE W121696 W121696 GNYE W121696
W121696 W121696 W121696
NA1 NA2 NA3
X1 1 2 3 4 5 6 X1 1 2 3 4 5 6 X1 1 2 3 4 5 6

1-32 + - 1-16 + - 1-32 + -
X2 4 3 2 1 X2 4 3 2 1 X2 4 3 2 1
VERDRILLEN VERDRILLEN VERDRILLEN

TWIST TWIST TWIST
AWG12 AWG12 AWG12

BK BK BK
W120034 W120034 W120034
X9.1 1 2 6 X9.2 1 2 6 X9.3 1 2 6

Motor MA1 U1
MOTOR MA1 U1
Motor MA1 V1
MOTOR MA1 V1
Motor MA1 W1
MOTOR MA1 W1
Motor MA2 U1
MOTOR MA2 U1
Motor MA2 V1
MOTOR MA2 V1
Motor MA2 W1
MOTOR MA2 W1
Motor MA3 U1
MOTOR MA3 U1
Motor MA3 V1
MOTOR MA3 V1
Motor MA3 W1
MOTOR MA3 W1
9 11
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt13.Mai.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Motoranschluá Achse 1-3 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MOTOR-CONNECTION AXIS 1-3 Blatt: A 10 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
DC600V
ZK2_+UG
ZK2_-UG
KPS600/20 ESC-UL
X10 2 7

AWG14
BK
W121696
10.8/ ZK+
10.8/ ZK-
10.8/ A_AR+
10.8/ A_AR-
PE
AWG14 AWG16
BK AWG12 BU
W121696 GNYE W121696
W121696
NA4
X1 1 2 3 4 5 6
KSD UG UG PE PE 24V GND

1-16 + -
U V W PE
X2 4 3 2 1
VERDRILLEN
TWIST
AWG12
BK
W120034
X9.4 1 2 6
Motor MA4 U1
MOTOR MA4 U1
Motor MA4 V1
MOTOR MA4 V1
Motor MA4 W1
MOTOR MA4 W1
10 12
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt13.Mai.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Motoranschluá Achse 4 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT MOTOR-CONNECTION AXIS 4 Blatt: A 11 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
DC24V/7.5A
KPS600/20 ESC-UL
BR_1+
BR_1-
X12 1 2
1 2 W120889
AWG-NGNYE
3xAWG16
Ringkern
TOROIDAL
CORE
1
FA19
C6A
2
AWG16
BU
W120889
XA2 B+ B+ B+ B+ B- B- B- B-
11 13
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S Bremsen Achsen 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT BRAKES AXIS Blatt: A 12 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
Anschluá vom K1
je nach KPS-Ausf•hrung
CONNECTION OF K1 KPS600/20-ESC-UL
DEPENDING UPON KPS-TYPE
13
K1
14
5.3
XA2:2
W121724m 1 2
AWG-NGNYE
3xAWG16
24V Bremse MA4
24V BRAKE MA4
0V Bremse MA4
0V BRAKE MA4
1
FA19.2
C10A
2
AWG16
NA4.1/X3:1 /15.2
NA4.1/X3:2 /15.2
BU
W121724
Br•cke Br•cke
XA5 1 2 3 4 5 6
14.1/ NA1.1/X3:1
14.4/ NA2.1/X3:1
14.7/ NA3.1/X3:1
14.1/ NA1.1/X3:2
14.4/ NA2.1/X3:2
14.7/ NA3.1/X3:2
24V Bremse MA1
24V Bremse MA2
24V Bremse MA3

24V BRAKE MA1
24V BRAKE MA2
24V BRAKE MA3
0V Bremse MA1
0V Bremse MA2
0V Bremse MA3
0V BRAKE MA1
0V BRAKE MA2
0V BRAKE MA3
12 14
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jun.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Bremse Achse 1-4 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT BRAKE AXIS 1-4 Blatt: A 13 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
+24V_EXT
+24V_EXT
+24V_EXT
GND_EXT
GND_EXT
GND_EXT
SL_I1
SL_I2
SL_I1
SL_I2
SL_I1
SL_I2
SL_O
M_ST
SL_O
M_ST
SL_O
M_ST
XA16
XA16 1 2 4 5 6 7 8 9 11 12 13 14 15 16 18 19 20 21
W121724i BK RD BK YE BK OG W121724j BK RD BK YE BK OG W121724k BK RD BK YE BK OG
LIYCY-TP LIYCY-TP LIYCY-TP

4x2xAWG20 4x2xAWG20 4x2xAWG20
NA1.1 NA2.1 NA3.1
X2 1 2 3 4 5 6 7 8 X2 1 2 3 4 5 6 7 8 X2 1 2 3 4 5 6 7 8
GND GND +24V +24V SL SL SL M GND GND +24V +24V SL SL SL M GND GND +24V +24V SL SL SL M
EXT INT EXT INT I1 I2 O ST EXT INT EXT INT I1 I2 O ST EXT INT EXT INT I1 I2 O ST
+U24 GND GND BR +U24 GND GND BR +U24 GND GND BR

BR BR BR + BR BR BR + BR BR BR +
X3 1 2 3 4 X3 1 2 3 4 X3 1 2 3 4
1 2 1 W121724e 1 2 1 W121724f 1 2 1 W121724g

13.1/ NA1.1/X3:1 13.1/ NA2.1/X3:1 13.1/ NA3.1/X3:1
2 AWG-NGNYE 2 AWG-NGNYE 2 AWG-NGNYE
13.5/ NA1.1/X3:2 13.5/ NA2.1/X3:2 13.5/ NA3.1/X3:2
W121724a W121724b W121724c

AWG-NGNYE LA1 AWG-NGNYE LA2 AWG-NGNYE LA3
3xAWG18 X1 3 1 2 3xAWG18 X1 3 1 2 3xAWG18 X1 3 1 2
X2 3 1 2 X2 3 1 2 X2 3 1 2
AWG12 AWG12 AWG12

GNYE GNYE GNYE
W120034 W120034 W120034
PE PE PE
PE PE PE
AWG16 AWG16 AWG16
BU AWG12 BU AWG12 BU AWG12
W120034 GNYE W120034 GNYE W120034 GNYE
W120034 W120034 W120034
X9.1 5 4 PE X9.2 5 4 PE X9.3 5 4 PE
Bremse Achse NA1 Masse Bremse Achse NA2 Masse Bremse Achse NA3 Masse
BRAKE AXIS NA1 GROUND BRAKE AXIS NA2 GROUND BRAKE AXIS NA3 GROUND
13 15
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt24.Jun.2003 PTR KRC2-05 AK24 AS 2/32+2/16-S SBM2 NA1.1 + NA3.1 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Blatt: A 14 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
+24V_EXT
GND_EXT
SL_I1
SL_I2
SL_O
M_ST
XA16
PE
XA16 22 23 25 26 27 28
W121724l BK RD BK YE BK OG AWG14
LIYCY-TP GNYE
4x2xAWG20 W121724
PE
NA4.1
X2 1 2 3 4 5 6 7 8
GND GND +24V +24V SL SL SL M

EXT INT EXT INT I1 I2 O ST
+U24 GND GND BR

BR BR BR +
X3 1 2 3 4
1 2 1 W121724h
13.1/ NA4.1/X3:1
2 AWG-NGNYE
13.5/ NA4.1/X3:2
3xAWG18
W121724d
AWG-NGNYE LA4
3xAWG18 X1 3 1 2
X2 3 1 2
AWG12
GNYE
W120034
PE
PE
AWG16
BU AWG12
W120034 GNYE
W120034
X9.4 5 4 PE
Bremse Achse NA4 Masse

BRAKE AXIS NA4 GROUND
14 16
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt24.Jun.2003 PTR KRC2-05 AK24 AS 2/32+2/16-S SBM2 NA4.1 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Blatt: A 15 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GRUNDSCHRANK
BASIC CABINET
PC
M F C, DSE-IBS
W117564
Interbus-S Master OUT
OG WHOG GN WHGN BU WHBU C5F-P26
Interbus-S
3x2xAWG24
GND_IBS
INTERBUS-S
/MDO
/MDI
N.C.
NA1
MDO
MDI
X13 1 2 3 4 5 6
X4 15 16 17 18 19 20
KSD SHIELD Interbus-S Slave IN
Geh„use
1-32 HOUSING
15 16 17 18 19 20 W_ST2.
FLAKA
SHIELD Interbus-S Slave OUT
20AWG26
X14 1 2 3 4 5 6 7 8
A32.1
ST1.1 15 16 17 18 19 20
W117564
3x2xAWG24
SHIELD
NA2
ST2.1 1 2 3 4 5 6 7 8
X13 1 2 3 4 5 6

Geh„use
1-16 HOUSING

OG WHOG GN WHGN BU WHBU
W114301
C5F-P26ú X14 1 2 3 4 5 6 7 8
3x2xAWG24
W117564
GA1 OG WHOG GN WHGN BU WHBU C5F-P26
X121 1 2 3 4 5 6 3x2xAWG24
SHIELD Interbus-S Slave IN NA3

Geh„use
HOUSING
X13 1 2 3 4 5 6

Geh„use
SHIELD Interbus-S Slave OUT 1-32 HOUSING
X122 1 2 3 4 5 6 7 8
X14 1 2 3 4 5 6 7 8
IBS_+5V /17.2
IBS_GND /17.2
IBS_MDI /17.2
IBS_/MDI /17.2
IBS_MDO /17.2
IBS_/MDO /17.2
15 17
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S Interbus-S Verbindung 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT INTERBUS-S CONNECTION Blatt: A 16 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
16.8/ IBS_+5V
16.8/ IBS_GND
16.8/ IBS_MDI Steckerbelegung
16.8/ IBS_/MDI
CONNECTOR ASSIGNMENT
16.8/ IBS_MDO
16.8/ IBS_/MDO
W117564
KPS-600/20
3x2xAWG24
X121 IBS IN X122 IBS OUT
NA4 1 = /DO1 1 = /DO2

2 = DO1 2 = DO2
X13 1 2 3 4 5 6
3 = /DI1 3 = /DI2
KSD Interbus-S Slave IN 4 = DI1 4 = DI2
1-16 SHIELD 5 = GND 5 = GND-IO
Geh„use
HOUSING 6 = +Vcc5 6 = RBST
7 = +Vcc5
Interbus-S Slave OUT 8 = n.c.
X14 1 2 3 4 5 6 7 8
KSD1-xx
X13 IBS IN X14 IBS OUT
1 = /DO1 1 = /DO2
2 = DO1 2 = DO2
3 = /DI1 3 = /DI2
4 = DI1 4 = DI2
5 = GND 5 = GND
6 = +Vcc5 6 = RBST
7 = +Vcc5
8 = n.c.
16 18
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jun.2004 SMR KRC2-05 AK24 AS 2/32+2/16-S Interbus-S Verbindung 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT INTERBUS-S CONNECTION Blatt: A 17 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
GA1
KPS600/20 ESC-UL
ESC OUT (A)
ESC OUT (B)

ESC IN (A)
ESC IN (B)
/TA24V (A)
/TA24V (B)
BA (AUTO)
BA (TEST)
RLNA (A)
RLNA (B)
24V_ESC
24V_ESC
ENA (A)
ENA (B)
LNA (A)
LNA (B)
BS (A)
BS (B)
ZS (A)
ZS (B)
QE (A)
QE (B)
NA (A)
NA (B)
E2 (A)
E2 (B)
RELAIS
RELAY
GNDS
GNDS
N.C.
N.C.
N.C.
AF
AA
X14 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
BN PK RD PK OG PK YE PK GN PK BU PK VT PK GY PK WH PK BK PK BN PK RD PK OG PK YE PK GN PK BU PK VT PK
W114298
FLAKA-F
17x2xAWG28
AA1
X2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
CI-Board
17 19
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S Sicherheitslogik AA1 / GA1 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SAFETY LOGIC AA1 / GA1 Blatt: A 18 von 21 Ver.Dok.
18
Zustand ŽB
0
0
MAL Žnder.Nr.
AA1
Datum
W129913
BU
AWG20
X8
Antriebe Aus extern
DRIVES OFF EXTERNAL
Name
1
1
PE
AF
4x2xAWG20
LIYCY-TP
W129913e
PLOTT
X6
+G/38.3/ IN B ESC OUT (B)

1
YE
Datum
+G/38.3/ IN A ESC OUT (A)
gespeichert unter:
04.Feb.2009
erstellt15.Apr.2003
2
BK
+VCC extern
APR
DON
3
Name
2
2
GND extern
4
+G/38.3/ OUT A ESC IN (A)
Anlage
Projekt
5
RD
+G/38.3/ OUT B ESC IN (B)
6
BK
KRC2
Zeichnungsnummer
+24V intern
+24V INTERNAL
7
0V intern
0V INTERNAL
8
3
3
Ort
2xAWG20
Belden
W129913d
A
+G/38.3/ X11/88
BM CI3 MPT
BK
+G/38.3/ X11/89
CI-Board
WH
KRC2-05 AK24 AS 2/32+2/16-S

PE
W129913
BU
AWG20
4
4
X9
Testausgang A
TEST OUTPUT A
1
Testausgang A
TEST OUTPUT A
Roboter GmbH
2
Testausgang A
TEST OUTPUT A
3
Testausgang A
TEST OUTPUT A
4
Testausgang B
5
5
Augsburg
TEST OUTPUT B
5
Testausgang B
TEST OUTPUT B
6
Testausgang B
Benennung
TEST OUTPUT B
7
Testausgang B
TEST OUTPUT B
8
ext. NOT-AUS Kanal A

EXT. EMERG.STOP CHANNEL A
9
ext. NOT-AUS Kanal B

6
6
EXT. EMERG.STOP CHANNEL B

10
NOT-AUS Kanal A
EMERG.STOP CHANNEL A
11
NOT-AUS Kanal B
EMERG.STOP CHANNEL B
12
X10
Zustimmung Kanal A
ENABLE CHANNEL A
1
AA1 / PERIPHERY, SAFETY

7
7
Zustimmung Kanal B
AA1 / Peripherie, Sicherheit
ENABLE CHANNEL B
2
Schutzeinrichtung Kanal A
SAFEGUARD CHANNEL A
3
Schutzeinrichtung Kanal B
SAFEGUARD CHANNEL B
4
Mat-Nr
Blatt:
QE (A)
A
5
QE (B)
6
8
8
E2 (A) Schl•sselschalter
E2 (A) KEY SWITCH
7
19
E2 (B) schl•sselschalter
von
E2 (B) KEY SWITCH

8
Antriebe Ein Extern

DRIVES ON EXTRNAL
9
21
0011005068
Testausgang B
W129913
BU
AWG20
TEST OUTPUT B
10
Antriebe Aus Extern

DRIVES OFF EXTERNAL
9
9
11
Testausgang A
TEST OUTPUT A
12
Ver.Dok.
00
20
19
Zustand ŽB
0
0
AA1
MAL Žnder.Nr.
X11
Datum
Betriebsart AUTO
MODE AUTO
1
Betriebsart TEST
MODE TEST
Name
1
1
Betriebsart COM
MODE COM
3
CI-Board
n.c.
PLOTT
4
5 n.c.
Datum
n.c.
gespeichert unter:
04.Feb.2009
erstellt15.Apr.2003
6
n.c.
APR
DON
7
Name
2
2
lokaler NOT-AUS Kanal B Out

LOCAL EMERG.STOP CHANNEL B OUT
8
lokaler NOT-AUS Kanal B In
Anlage
Projekt
LOCAL EMERG.STOP CHANNEL B IN
9
lokaler NOT-AUS Kanal A Out

LOCAL EMERG.STOP CHANNEL A OUT
KRC2
10
Zeichnungsnummer
lokaler NOT-AUS Kanal A In
LOCAL EMERG.STOP CHANNEL A IN
11
n.c.
3
3
12
Ort
A
BM CI3 MPT
X12
7,5A
24V Steuerspannung 6A
24V CONTROL-VOLTAGE 6A
1
4A
24V Steuerspannung 4A
24V CONTROL-VOLTAGE 4A
2
0V Steuerspannung
KRC2-05 AK24 AS 2/32+2/16-S

0V CONTROL-VOLTAGE
3
0V Steuerspannung
4
4
0V CONTROL-VOLTAGE
4
n.c.
5
Antriebe Ein Kanal B Out

DRIVES ON CHANNEL B OUT
Roboter GmbH
6
Antriebe Ein Kanal B In

DRIVES ON CHANNEL B IN
7
n.c.
8
Antriebe Ein Kanal A Out
5
5
Augsburg
DRIVES ON CHANNEL A OUT
9
Antriebe Ein Kanal A In

DRIVES ON CHANNEL A IN
10
Benennung
6
6
Ringkern
X1
TOROIDAL CORE
5.2/ L13 24V intern

AA1 / PERIPHERY
24V INTERNAL
1
AA1 / Peripherie
5.2/ 0V_A1 0V intern

0V INTERNAL
2
7
7
24V intern gepuffert

24V INTERNAL BUFFERED

3
0V intern gepuffert
0V INTERNAL BUFFERED
4
Mat-Nr
Blatt:
A
8
8
20
von
21
0011005068
9
9
Ver.Dok.
00
21
0 1 2 3 4 5 6 7 8 9
CAN-Anschluá Option ortsfester

f•r I/O-Platine Betriebsartenwahlschalter
AWG20
CAN-CONNECTOR OPTION STATIONARY
BU
FOR I/O-BOARD SELECTOR SWITCH
W129913
AA1
X21 1 2 3 4 X5 4 3 2 1 5 6 X7 1 2 3 4 5 X4 1 2 3 4 5 6 7 8 9
24V int. gepuffert

24V INT. BUFFERED
0V int. gepuffert
0V INT. BUFFERED
BA (TEST)
BA (TEST)
BA (AUTO)
BA (AUTO)
Input 1-4
Input 1
Input 2
Input 3
Input 4
SHIELD
24V DC
ESC OUT(B)
ESC OUT(A)
ESC IN(B)
ESC IN(A)
CAN-
CAN+
GND
GND
CAN+
CAN-
+VCC
GND
ESC OUT (A)
ESC OUT (B)

ESC IN (B)
ESC IN (A)
CAN-High
IN_1_24V
IN_2_24V
IN_3_24V
IN_4_24V
GND CAN
GND_24V
CAN-Low
Inputs
n. c.
n. c.
CI-Board
24V
GND
X3 1 7 14 15 16 17 18 19 10 22 11 23 12 24 13 25
AWG24
BU
W129913
20 +B/1
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt15.Apr.2003 DON KRC2-05 AK24 AS 2/32+2/16-S SICHERHEITSLOGIK AA1 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SAFETY LOGIC AA1 Blatt: A 21 von 21 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
Vorderansicht Seitenansicht links und rechts R•ckansicht

FRONT-VIEW SIDE-VIEW LEFT AND RIGHT REAR VIEW
520.0
450.0
800.0
1850.0
X9.2
X9.4
XA16
X9.1
X9.3
1250.0
300.0
90.0
800.0 520.0
810.0 590.0
+A/21 Maástab 1:10 (A3)SCALE 1:10 (A3) 2
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Schrankansicht 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT CABINET VIEW Blatt: B 1 von 8 Ver.Dok.
PLOTT 04.Feb.2009 Anlage KRC2 Ort B Mat-Nr
0 1 2 3 4 5 6 7 8 9
GRUNDSCHRANK AUFSATZSCHRANK
BASIC CABINET POST TOP CABINET
X9.1
X9.2
oben
X9.3
TOP OBEN
X9.4
TOP
XA16
1 3
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
EA1 EA2 Schnitt D

SECTIONAL VIEW D
FA11
FA12
FA13
FA14
FA15
FA19
Schnitt E Schnitt F
FA1
XA2
AA1
SECTIONAL VIEW E SECTIONAL VIEW F
CI-Board
Schnitt C
GA1
SECTIONAL VIEW C
FAG3
Lenze
NA4 NA3 NA2 NA1
GA3.1 GA3.2
Lenze Lenze Lenze Lenze NA4 NA3 NA2 NA1
GA1
Schnitt B
SECTIONAL VIEW B
FA19.2
PE-Schiene
FAG3
E1 GA3.2 GA3.1
AA1
Schnitt A
SECTIONAL VIEW A
G1
N6 N5
Lenze Lenze
Lenze
PC
Schnitt D
SECTIONAL VIEW D
Schnitt E Schnitt F
SECTIONAL VIEW E SECTIONAL VIEW F
N4 N3 N2 N1 Schnitt C
Lenze Lenze Lenze Lenze SECTIONAL VIEW C
A1
KSD KSD KSD KSD
G1
X2.1
F15
F16
FG3
X
3
Z1
Schnitt B
A1
SECTIONAL VIEW B
G2
F18
PC
Schnitt A
SECTIONAL VIEW A
Schnitt G
SECTIONAL VIEW G
2 4
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
EA1 EA2 FRA1

RA1 / RA2
FA11
FA12
FA13
FA14
FA15
FA19
FA1
XA2
GA1
Lenze
NA4 NA3 NA2 NA1
Lenze Lenze Lenze Lenze
FA19.2
PE-Schiene
E1 R2
FR1
R1
G1
N6 N5
Lenze Lenze
Lenze
F1
KCP
Kuka Control Panel
F11
N4 N3 N2 N1
KUKA
Lenze Lenze Lenze Lenze
A1
G2
X2.1
F19
F15
F16
FG3
X
3
E2
F18
3 5
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
EA1 EA2
AA1
GA1
NA2 NA1-
X9.2
X9.4
NA4
XA16 Akku
X9.1
X9.3
E1
Q1
Z1
N5-N8 G1
KE2
F3 F2 F1
PC Rack
Kabelkanal CABLE-CHANNEL FD
CD
XF14
F22
F14
F13
F12
F11
X2
N1-N4
A1
G2
F19
XF19
FG3
E2
PE-Schiene
Akku
EARTH RAIL
Schnitt C Schnitt D Schnitt E Schnitt F

SECTIONALVIEW C SECTIONALVIEW D SECTIONALVIEW E SECTIONALVIEW F
4 6
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
Ansicht von Aussen

OUTER VIEW
X19
X20 X11
Motor N1
MOTOR N1 Codier-
buchse
Motor N2 CODING-
MOTOR N2
BUSHING
Motor N3 XA21
MOTOR N3
Motor N4
MOTOR N4
Bremse N1-6
BRAKE N1-6
Motor N5
X21
MOTOR N5
Bremse N1-6 Codier-
BRAKE N1-6
stift
Motor N6
MOTOR N6
CODING-
Bremse N1-6
PIN
BRAKE N1-6
Plug for positioning data Axis 1-8 X21
PLUG FOR POSITIONING DATA AXIS NA XA21

Positionsdatenstecker Achse 1-8 X21
Positionsdatenstecker Achse NA XA21

XS1
Wieland KABELDURCHFšHRUNG
PERIPHERAL CONNECTOR X11
AWieland CABLE BUSHING

Motorstecker Achse 1-6
Peripheriestecker X11
MOTOR PLUG AXIS 1-6
KCP Connection X19

KCP Anschluá X19
Netzanschluá
MAINS SUPPLY
CEE 32/5
5 7
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt09.Jul.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Steckerfeld 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT CONNECTOR PANEL Blatt: B 6 von 8 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
DSE IBS C33 AUX

PC-Komponenten
KVGA
MFC3
PC-components
Mainboard FSC D1688
KEYBOARD
1
7
USB4 USB2 CPU Intel Celeron 2GHz
USB3 COM1 COM2 USB1
MOUSE
DIMM Speichermodul 256MB (2 St•ck)
ST2.1 LPT1 RAM 256MB
HDD, stossgesch•tzte Ausf•hrung

HDD, shockproof version
X821 X2
LED KVGA 2.0
ST4.1
X805 MFC3
X801
DSE-IBS-C33
ST4 ST3 ST5

X961
CD-ROM-Laufwerk
CD-ROM-drive
ST6
Floppy-Laufwerk
Floppy-drive
6 8
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt16.Dez.2004 M•ller KRC2-05 AK24 AS 2/32+2/16-S Steckplatzzuordnung KPC-Rahmen 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT SLOT ASSIGNMENT FOR KPC-RACK Blatt: B 7 von 8 Ver.Dok.
0 1 2 3 4 5 6 7 8 9
USB1
USB2
USB3
USB4
7 +K/1
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt02.Feb.2007 APR KRC2-05 AK24 AS 2/32+2/16-S T•rschnittstelle 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Door interface Blatt: B 8 von 8 Ver.Dok.
Klemmleisten-Bezeichnung
+B/8
CABLE
Kabel
CABLE
Kabel
Zustand ŽB
W107204
TERMINAL STRIP
W129913c
W129913b
0
0
=KRC2+G-X11
MAL Žnder.Nr.
BRIDGES
Br•cken
Datum
KabelTyp
Klemme
Anschluá
Anschluá
SRYD321C
Kabel Typ
AWG-NGNYE
AWG-NGNYE
CONNECTION
CONNECTION
POTENTIAL
Potential
PAGE/PATH
5x
5x
Seite/Pfad
32x
CABLE TYPE SIZE

CABLE TYPE SIZE
Name
1
1
CLAMP NUMBER
DESTINATION EXTERNAL
DESTINATION INTERNAL
Funktionstexte
Querschnitt
Querschnitt
PLOTT
Zielbezeichnung extern
Zielbezeichnung intern
FUNCTION
\TA24V(A)_Extern
BK
1 +G/41.1 -A1-X22 1
Datum
gespeichert unter:
04.Feb.2009
erstellt04.Feb.2009
LNA(B)_O
2 +G/41.8 -A1-X22 36
APR
ARR
Name
2
2
LNA(B)_I
3 +G/41.4 -A1-X22 17
OGBKWH BKWH
ENA(A)
Anlage
BU
Projekt
4 +G/41.2 -A1-X22 7
\TA24V(A)_Extern
KRC2
WH
5 +G/41.1 -A1-X22 2
Zeichnungsnummer
ZS1(A)
6 +G/41.2 -A1-X22 8
WHBK
3
3
\TA24V(A)_Extern
Ort
RD
7 +G/41.1 -A1-X22 3
K
BS(A)
BM CI3 MPT
8 +G/41.3 -A1-X22 9
RDBK
N.C.
4
11 +G/39.6 -A1-X12 10
N.C.
KRC2-05 AK24 AS 2/32+2/16-S

3
12 +G/39.6 -A1-X12 9
4
4
GND_ungepuffert
4
18 +G/39.3 -A1-X12 4
\TA24V(B)_Extern
19 +G/41.5 -A1-X22 20
Roboter GmbH
LNA(A)_O
20 +G/41.8 -A1-X22 35
LNA(A)_I
21 +G/41.4 -A1-X22 16
BUWH GNBKWH BUBK
5
5
ENA(B)
Augsburg
22 +G/41.6 -A1-X22 26
RDGN
\TA24V(B)_Extern
23 +G/41.5 -A1-X22 21
BKRD
Benennung
ZS1(B)
24 +G/41.6 -A1-X22 27
OGGN
\TA24V(B)_Extern
25 +G/41.5 -A1-X22 22
6
6
BS(B)
26 +G/41.6 -A1-X22 28
WHRD BKWHRD
N.C.
2
29 +G/39.6 -A1-X12 7
N.C.
1
+G/39.5 -A1-X12 6
=KRC2+G-X11
30
24V_UGP_4A_F12_SI
2
36 +G/39.2 -A1-X12 2
7
7
\TA24V(A)_Extern
GN
38 +G/41.2 -A1-X22 4
\TA24V(B)_Extern
39 +G/41.5 -A1-X22 23
OGRD
\TA24V(A)_Extern
OG
41 +G/41.2 -A1-X22 5
Mat-Nr
Blatt:
K
AF/X11
42 +G/41.3 -A1-X22 12
OGBK
8
8
\TA24V(B)_Extern
43 +G/41.6 -A1-X22 24
1
AA/X11
von
44 +G/41.7 -A1-X22 31
N.C.
10
46 +G/41.8 -A1-X22 37
0011005068
N.C.
47 +G/41.5 -A1-X22 19
BURD RDBKWHBUBKWH GNWH
9
9
N.C.
48 +G/41.4 -A1-X22 18
RDWH
Ver.Dok.
00
2
0 1 2 3 4 5 6 7 8 9
Kabel Kabel Typ Querschnitt
CABLE CABLE TYPE SIZE
W129913b SRYD321C 32x GNBK WHBKRD
W107204 AWG-NGNYE 5x 3 1
W129913a LiYCY-TP 4x2x BK RD BK YE
Anschluá
10
29
8
CONNECTION
-A1-X22
-A1-X22
-A1-X12
-A1-X12
=KRC2+G-X11
-A1-X6
-A1-X6
-A1-X6
-A1-X6
TERMINAL STRIP
Seite/Pfad
+G/41.3
+G/41.7
+G/39.2
+G/38.2
+G/38.2
+G/39.2
+G/38.3
+G/38.3
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
106
107
50
51
72
88
89
90
CLAMP NUMBER
Anschluá
CONNECTION
Kabel KabelTyp Querschnitt

Funktionstexte
24V_UGP_7,5A_F16_SI
24V_EINGANG_FILTER
GND_EINGANG_FILTER
24V_UGP_4A_F13_SI
GND_ungepuffert
GND_UNGEPUFFERT
FUNCTION
QE(A)
QE(B)
1 3
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt04.Feb.2009 ARR KRC2-05 AK24 AS 2/32+2/16-S =KRC2+G-X11 0011005068
gepr•ft 04.Feb.2009 APR BM CI3 MPT Blatt: K 2 von 10 Ver.Dok.
PLOTT 04.Feb.2009 Anlage KRC2 Ort K Mat-Nr
0 1 2 3 4 5 6 7 8 9
W106846 AWG-N 3x 1 2 3
W107431 AWG-N 3x 1 2 3
W107432 AWG-N 3x 1 2 3
W107433 AWG-N 3x 1 2 3
W107443 AWG-NGNYE 5x 1 4 2 3
W107434 AWG-N 3x 1 2 3
W107435 AWG-N 3x 1 2 3
Anschluá
B-
4
2
CONNECTION
=KRC2+G-X20
-N1-X2
-N1-X2
-N1-X2
-N2-X2
-N2-X2
-N2-X2
-N3-X2
-N3-X2
-N3-X2
-N4-X2
-N4-X2
-N4-X2
-N5-X2
-N5-X2
-N5-X2
-N6-X2
-N6-X2
-N6-X2
-XF19
-F19
-F19
-F19
TERMINAL STRIP
Seite/Pfad
+G/29.1
+G/29.1
+G/29.1
+G/29.4
+G/29.4
+G/29.4
+G/29.6
+G/29.7
+G/29.7
+G/30.1
+G/31.1
+G/30.1
+G/31.3
+G/30.1
+G/30.4
+G/31.1
+G/30.4
+G/31.3
+G/30.4
+G/30.6
+G/31.1
+G/30.7
+G/31.3
+G/30.7
+G/31.4
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
A1
A2
A3
B1
B2
B3
C1
C2
C3
D1
D3
D4
D5
D6
E1
E3
E4
E5
E6
F1
F3
F4
F5
F6
PE
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
Bremse Achse 1-6
Bremse Achse 1-6
Bremse Achse 1-6
Bremse Achse 1-6
Bremse Achse 1-6
Bremse Achse 1-6

FUNCTION
Motor M1 U1
Motor M1 V1
Motor M1 W1
Motor M2 U1
Motor M2 V1
Motor M2 W1
Motor M3 U1
Motor M3 V1
Motor M3 W1
Motor M4 U1
Motor M4 V1
Motor M4 W1
Motor M5 U1
Motor M5 V1
Motor M5 W1
Motor M6 U1
Motor M6 V1
Motor M6 W1
Masse
2 4
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt04.Feb.2009 ARR KRC2-05 AK24 AS 2/32+2/16-S X20 0011005068
0 1 2 3 4 5 6 7 8 9
W129833a AWG-NGNYE 3x 2 1
W129833b LiYCY-TP 6x2x BK BN BK RD BK OG BK YE BK GN BK BU
Anschluá
11
12
13
10
14
4
6
CONNECTION
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A32-ST4
-A1-X19
-A1-X19
=KRC2+G-X21
TERMINAL STRIP
Seite/Pfad
+G/33.2
+G/33.3
+G/33.3
+G/33.3
+G/33.4
+G/33.4
+G/33.5
+G/33.5
+G/33.5
+G/33.6
+G/33.6
+G/33.7
+G/33.7
+G/33.7
+G/33.8
+G/33.8
+G/33.9
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
10
11
12
13
14
15
16
17
1
9
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
FUNCTION
/CLKX
/CLKR
n.c.
CLKX
/FSR
/FSX
CLKR
n.c.
n.c.
GND
24V
FSR
/DR
FSX
/DX
DR
DX
3 5
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt04.Feb.2009 ARR KRC2-05 AK24 AS 2/32+2/16-S X21 0011005068
0 1 2 3 4 5 6 7 8 9
W129909a AWG-NGNYE 3x 2 1
W129909b LiYCY-TP 6x2x BK BN BK RD BK OG BK YE BK GN BK BU
Anschluá
12
-A32.1-ST4.111
-A32.1-ST4.112
-A32.1-ST4.113
-A32.1-ST4.110
-A32.1-ST4.114
2
-A32.1-ST4.1 3
-A32.1-ST4.1 4
-A32.1-ST4.1 5
-A32.1-ST4.1 9
-A32.1-ST4.1 1
-A32.1-ST4.1 2
-A32.1-ST4.1 6
CONNECTION
=KRC2+G-XA21
-X2.1
-F18
TERMINAL STRIP
Seite/Pfad
+G/34.1
+G/34.2
+G/34.2
+G/34.2
+G/34.3
+G/34.3
+G/34.4
+G/34.4
+G/34.4
+G/34.5
+G/34.5
+G/34.6
+G/34.6
+G/34.6
+G/34.7
+G/34.7
+G/34.8
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
10
11
12
13
14
15
16
17
1
9
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
FUNCTION
/CLKX
/CLKR
n.c.
CLKX
/FSR
/FSX
CLKR
n.c.
n.c.
GND
24V
FSR
/DR
FSX
/DX
DR
DX
4 6
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt04.Feb.2009 ARR KRC2-05 AK24 AS 2/32+2/16-S =KRC2+G-XA21 0011005068
0 1 2 3 4 5 6 7 8 9
BK X X X
BU X X
GNYE X
Anschluá
2
CONNECTION
=KRC2+A-X9.1
-NA1-X2
-NA1-X2
-LA1-X2
-LA1-X2
-NA1-X2
-PE
TERMINAL STRIP
Seite/Pfad
+A/10.1
+A/10.1
+A/14.2
+A/14.2
+A/10.1
+A/14.3
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
PE
1
6
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
Bremse Achse NA1
Bremse Achse NA1

Motor MA1 U1
Motor MA1 V1
Motor MA1 W1
FUNCTION
Masse
5 7
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt04.Feb.2009 ARR KRC2-05 AK24 AS 2/32+2/16-S =KRC2+A-X9.1 0011005068
0 1 2 3 4 5 6 7 8 9
BK X X X
BU X X
GNYE X
Anschluá
2
CONNECTION
=KRC2+A-X9.2
-NA2-X2
-NA2-X2
-LA2-X2
-LA2-X2
-NA2-X2
-PE
TERMINAL STRIP
Seite/Pfad
+A/10.4
+A/10.4
+A/14.5
+A/14.5
+A/10.4
+A/14.6
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
PE
1
6
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
Bremse Achse NA2
Bremse Achse NA2

Motor MA2 U1
Motor MA2 V1
Motor MA2 W1
FUNCTION
Masse
6 8
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
BK X X X
BU X X
GNYE X
Anschluá
2
CONNECTION
=KRC2+A-X9.3
-NA3-X2
-NA3-X2
-LA3-X2
-LA3-X2
-NA3-X2
-PE
TERMINAL STRIP
Seite/Pfad
+A/10.6
+A/10.7
+A/14.8
+A/14.8
+A/10.7
+A/14.9
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
PE
1
6
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
Bremse Achse NA3
Bremse Achse NA3

Motor MA3 U1
Motor MA3 V1
Motor MA3 W1
FUNCTION
Masse
7 9
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
BK X X X
BU X X
GNYE X
Anschluá
2
CONNECTION
=KRC2+A-X9.4
-NA4-X2
-NA4-X2
-LA4-X2
-LA4-X2
-NA4-X2
-PE
TERMINAL STRIP
Seite/Pfad
+A/11.1
+A/11.1
+A/15.3
+A/15.3
+A/11.1
+A/15.4
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
PE
1
6
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
Bremse Achse NA4
Bremse Achse NA4

Motor MA4 U1
Motor MA4 V1
Motor MA4 W1
FUNCTION
Masse
8 10
0 1 2 3 4 5 6 7 8 9
Datum Name
0 1 2 3 4 5 6 7 8 9
W121724i LIYCY-TP 4x2x BK RD BK YE BK OG
W121724j LIYCY-TP 4x2x BK RD BK YE BK OG
W121724k LIYCY-TP 4x2x BK RD BK YE BK OG
W121724l LIYCY-TP 4x2x BK RD BK YE BK OG
Anschluá
8
CONNECTION
=KRC2+A-XA16
-NA1.1-X2
-NA1.1-X2
-NA1.1-X2
-NA1.1-X2
-NA1.1-X2
-NA1.1-X2
-NA2.1-X2
-NA2.1-X2
-NA2.1-X2
-NA2.1-X2
-NA2.1-X2
-NA2.1-X2
-NA3.1-X2
-NA3.1-X2
-NA3.1-X2
-NA3.1-X2
-NA3.1-X2
-NA3.1-X2
-NA4.1-X2
-NA4.1-X2
-NA4.1-X2
-NA4.1-X2
-NA4.1-X2
-NA4.1-X2
TERMINAL STRIP
Seite/Pfad
+A/14.1
+A/14.2
+A/14.2
+A/14.2
+A/14.3
+A/14.3
+A/14.4
+A/14.5
+A/14.5
+A/14.5
+A/14.6
+A/14.6
+A/14.7
+A/14.8
+A/14.8
+A/14.8
+A/14.9
+A/14.9
+A/15.2
+A/15.2
+A/15.3
+A/15.3
+A/15.3
+A/15.3
PAGE/PATH
Potential
POTENTIAL
Br•cken
BRIDGES
Klemme
11
12
13
14
15
16
18
19
20
21
22
23
25
26
27
28
1
9
CLAMP NUMBER
Anschluá
CONNECTION

Funktionstexte
FUNCTION
+24V_EXT
+24V_EXT
+24V_EXT
+24V_EXT
GND_EXT
GND_EXT
GND_EXT
GND_EXT
SL_I1
SL_I2
SL_I1
SL_I2
SL_I1
SL_I2
SL_I1
SL_I2
SL_O
M_ST
SL_O
M_ST
SL_O
M_ST
SL_O
M_ST
9
0 1 2 3 4 5 6 7 8 9
Datum Name
erstellt04.Feb.2009 ARR KRC2-05 AK24 AS 2/32+2/16-S =KRC2+A-XA16 0011005068

Manual Elétrico 0011005068 - Splinfo

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Manual Elétrico 0011005068 - Splinfo

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0 1 2 3 4 5 6 7 8 9

Projektbezeichnung.................... KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

Hersteller (Firma).................... KUKA Roboter GmbH

Anschluáspannung [V].................. 3x 400 50/60Hz

Gewicht ca. [kg]...................... 311

Schaltplan erstellt am Anzahl der Seiten

erstellt28.Nov.2007 MST KRC2-05 AK24 AS 2/32+2/16-S Deckblatt 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

Inhaltsverzeichnis KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

erstellt MST KRC2-05 AK24 AS 2/32+2/16-S Inhaltsverzeichnis 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

Inhaltsverzeichnis KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

erstellt MST KRC2-05 AK24 AS 2/32+2/16-S Inhaltsverzeichnis 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

Inhaltsverzeichnis KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

erstellt MST KRC2-05 AK24 AS 2/32+2/16-S Inhaltsverzeichnis 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

Inhaltsverzeichnis KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

erstellt MST KRC2-05 AK24 AS 2/32+2/16-S Inhaltsverzeichnis 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

Inhaltsverzeichnis KRC2-05 AK24 AS 2/32+2/16-SBM CI3 MPT

erstellt MST KRC2-05 AK24 AS 2/32+2/16-S Inhaltsverzeichnis 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

FUSE Wert Bedeutung

Antriebe BREMSEN (SBM2)

Best•ckung der Umrichter

erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S šbersicht Sicherungen 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

FUSE Wert Bedeutung

Bremsen Achse 1-6

erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S šbersicht Sicherungen 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S CI3-Board 0011005068

gepr•ft 04.Feb.2009 APR BM CI3 MPT CI3-BOARD Blatt: G 5 von 45 Ver.Dok.

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

LED Farbe Bedeutung FUSE Wert Bedeutung

ROT Sicherungs•berwachung f•r F12

GRšN 24V gepuffert

ROT Sicherungs•berwachung f•r F23 DC24V Schnittstelle VCC

ROT ESC Busausgang MFC Fehler

erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S CI3-Board 0011005068

gepr•ft 04.Feb.2009 APR BM CI3 MPT CI3-BOARD Blatt: G 6 von 45 Ver.Dok.

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

ANZEIGE Tastatur ESC

X19 X19 X19

X2 CONVERTER 1 CONVERTER 2 CONVERTER 3 CONVERTER 4

X13 X14 X13 X14 X13 X14 X13 X14

ST1 ST1 ST2

ST6 ST6 ST3 X805

INTERBUS Antriebe/ Drives X121 X122

X18 X16 X3 X3 X21 X5 X5

CI3-Board X2 X14 KPS

X114 X110 X110 X110 X7 X12

X6 X7 X12 X19 X22

R1-/TRAFO TEMP CONTROL.

MAIN SWITCH CONTROL

FAN CONTROL BOTTOM

erstellt09.Jun.2005 MST KRC2-05 AK24 AS 2/32+2/16-S šbersicht Steuerkreis 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr

Br•cke auf Pin 6

ESC OUT (B)

erstellt09.Jun.2005 Stelzle KRC2-05 AK24 AS 2/32+2/16-S šbersicht KPS-Steuerkreis 0011005068

PLOTT 04.Feb.2009 Anlage KRC2 Ort G Mat-Nr