KUKA Posiflex - KUKA Robotics

3 Product description
1 Main beam
2 Drive of planetary axes (motor)
3 Base frame
4 Working range monitoring (optional)
5 Connector panel and 2nd RDC
6 Counterbearing of planetary axes
Base frame
Main axis
Planetary axes
Electrical installations
The base frame is the base of the positioner. It supports the main axis and is
bolted to the floor.
The main axis of the positioner consists of motor, gear unit, bearings and main
beam. The two planetary axes are mounted on the arms of the main beam.
Depending on the type of positioner, the main beam may be designed with one
or two tubes.
The main axis may optionally be fitted with working range monitoring.
The planetary axes consist of motor, gear unit, counterbearing and flanges;
the workpiece fixtures are mounted on the flanges.
The electrical installations consist of the cables and connectors, along with the
relevant holders, flexible tube and accessories .
The positioner has its own RDC (2nd RDC) located in the junction box on the
base frame.
3.3 Control and integration
Description
The drive units of the positioner are operated as external axes of the robot
controller. The following couplings are possible:
• Asynchronous operation. There is no mathematical coupling with the robot.
• Mathematical coupling of one or more drive units into the robot kinematic
system.
Root point calibration is required for the mathematical coupling.
Further information about calibration of an external kinematic system
is contained in the Operating and Programming Instructions for System
Integrators.
An example of a mathematical coupling is depicted in the following diagram.
Issued: 22.05.2012 Version: Spez KPF3-V2H V3 en
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