2. Technical Specifications Comparison

KSD1-16

• Rated output current: 8A

• Peak current: 16A

• Rated power: ~16kW

• Intermediate circuit DC voltage: 0–770V DC

• PWM frequency: 4kHz / 8kHz

• Cooling: Built-in cooling fan

• Width: 132 mm

• Weight: approx. 3.2 kg

KSD1-32

• Rated output current: 16A

• Peak current: 32A

• Rated power: ~32kW

• Intermediate circuit DC voltage: 0–770V DC

• PWM frequency: 4kHz / 8kHz

• Cooling: High-power forced fan

• Width: 176 mm

• Weight: approx. 4.5 kg

Common Parameters

• Installation: Cabinet vertical mounting, IP20

• Operating temperature: 0°C ~ +40°C

• Storage temperature: -20°C ~ +70°C

• Control interface: Internal KUKA servo bus

• Application: KRC1 / KRC2 robot controller main axes and external axes

3. Terminal & Interface Definition (Common for Both)

• X1: DC intermediate circuit power + 24V control power, power/fault LED indicator

• X2: Motor three-phase output, motor brake and encoder interface

• X11: Safety signal & digital I/O interface (E-Stop, safety door interlock)

• X13: Servo bus IN (signal input from upper level or previous drive)

• X14: Servo bus OUT (signal output to next drive in daisy chain)

4. Main Features

• High dynamic response, fast torque adjustment

• Full protection: over current, over voltage, under voltage, over temperature, short circuit, encoder failure

• Servo bus serial communication, automatic axis address identification

• Compatible with KSS system software, parameter configured via KCP teach pendant or WorkVisual

• Support robot joint axis and linear/rotary external axis

5. Safety Instructions

• Internal high voltage up to 770V DC. After power off, wait at least 5 minutes for capacitor discharge before wiring or maintenance.

• Do not disassemble, modify or short-circuit protection circuit.

• Keep ventilation slots unblocked, reserved upper and lower cooling space ≥50mm.

• All safety interlock signals must be connected correctly; do not bypass safety loop.

6. Installation & Wiring

1. Mount drive vertically inside KRC1/KRC2 cabinet.

2. Connect X1 to intermediate circuit DC power, strictly follow positive and negative polarity.

3. Connect X2 to motor power cable, brake cable and encoder cable with shield grounding.

4. Servo bus: X13 IN connected to previous drive or controller, X14 OUT connected to next drive.

5. X11 safety and I/O wiring use twisted pair cable, reliable grounding.

6. Cabinet, drive and motor must be connected to protective earth firmly.

7. Operation Description

• After controller power-on, intermediate circuit voltage builds up automatically.

• Drive power green LED on, red fault LED off means standby normal.

• Under T1/T2 manual mode, enable allowing switch, robot can jog each axis normally.

• In automatic mode, drive follows robot program to complete PTP/LIN/CIRC motion.

• Once fault occurs, red LED lights up, drive locks output; read fault code via teach pendant to troubleshoot.

8. Daily Maintenance

• Daily: Check power/fault LED status, cable appearance and tightness.

• Weekly: Clean fan and dust filter, check ventilation.

• Monthly: Retighten power terminals and connectors.

• Quarterly: Backup drive parameters.

• Annual: Check fan aging, capacitor bulging and abnormal noise.

9. Common Troubleshooting

• No power LED: Check 770V DC intermediate voltage, cabinet fuse and KPS power supply.

• Servo not ready: Check E-Stop reset, safety door interlock, motor and encoder cable.

• Overload alarm: Too fast acceleration/deceleration, mechanical stuck or motor aging.

• Overvoltage alarm: Regenerative energy abnormal, brake module failure or grid voltage unstable.

• Bus communication error: Servo bus cable loose, drive address abnormal or drive damaged.