When installing KUKA servo motors, strict specifications must be followed to ensure equipment performance and safety. Here are the key considerations:
1. Mechanical installation
Axis aligned with fixed
Ensure that the motor shaft is strictly coaxial with the load (such as robot joints, conveyor belts, etc.) to avoid eccentricity or Angle deviation.
Tighten according to manual torque values using the mounting holes and bolt specifications specified by KUKA (usually in two sets to avoid excessive bearing preload).
Vibration reduction and support
If the load inertia is large or there is impact, it is necessary to install a shock absorber or dynamic support to prevent mechanical resonance.
The cable outlet direction should be consistent with the motor movement direction to avoid repeated bending of the cable.
Environmental adaptation
Avoid installation in humid, dusty or high temperature (beyond the specification range) environment, and install a protective cover or cooling device if necessary.
2. Electrical connection
Power cable with encoder
The power cable (U/V/W) should be routed separately, at least 20cm apart from the encoder cable (feedback signal), or using a shielded cable.
Avoid running the encoder cable parallel to the power line, and use metal hose protection if necessary.
Grounding and shielding
Motor housing, driver and controller must be reliably grounded, grounding resistance ≤4Ω.
The shield layer of the encoder cable should be grounded at both ends to avoid noise interference.
Cable management
Avoid excessive bending of the cable (minimum bending radius reference manual), and use a special cable clamp when fixing to prevent pulling.
3. Set parameters
Pre-commissioning check
Verify that the driver firmware version matches the motor and upgrade if necessary.
Adjust driver parameters (such as current limits, speed/position loop gain) according to load inertia.
Trial run test
Before the first power on, manually rotate the motor to check whether it is stuck.
Gradually increase the load test temperature rise (usually allow temperature rise ≤40 ° C), if abnormal need to check lubrication or heat dissipation.
4. Safety and compliance
Operation safety
Power off and check the power after operation, hang warning signs to prevent miscontact.
The emergency stop (E-Stop) function should be tested and effective, and the emergency stop circuit should be wired independently.
Protection and marking
Install a protective cover around the rotating parts to prevent splashing or personnel contact.
The motor nameplate and wiring mark are clear, which is convenient for subsequent maintenance.
5. Commissioning and acceptance
Functional testing
No-load operation check whether the noise and vibration are abnormal (normal should be smooth without flutters).
Load tests verify that the positioning accuracy and repetition accuracy meet the requirements.
document record
Record installation parameters, test data and wiring diagram for troubleshooting.