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