• Order numbers: 00‑117‑345, 00‑105‑414

• Application: KR150, KR210, KR240, KR300 and similar heavy‑payload robots

• Control principle: Field‑oriented vector control (torque / speed / position loop)

• Construction: Vertical cabinet mounting, hot‑swap capable, IP20 protection

2. Technical Specifications

Electrical Data

• Intermediate circuit voltage: DC 0–585 V (24.5 A rated)

• Output voltage: 3∼ AC 0–480 V, 0–480 Hz

• Rated output current: 20 A

• Peak output current: 64 A

• Rated power: Approx. 32–40 kW (depends on DC bus voltage)

• PWM frequency: 4 kHz / 8 kHz (configurable)

• Control modes: Torque control, speed control, position control

• Encoder support: EnDat 2.2 / resolver (motor‑feedback)

Mechanical & Environmental

• Dimensions (W × H × D): 264 × 240 × 180 mm

• Weight: Approx. 6.8 kg

• Protection class: IP20 (for installation inside control cabinets)

• Operating temperature: 0 °C to +40 °C

• Storage temperature: −20 °C to +70 °C

• Cooling: Forced air cooling (two high‑speed fans); maintain ≥50 mm clearance above and below for airflow

3. Connector & Interface Definition

X1 – Power & Control

• DC intermediate circuit voltage (585 V DC)

• 24 V DC control supply

• Status LEDs: green = Power OK, red = Fault

X2 – Motor Connection

• 3∼ motor power (U, V, W)

• Motor brake connection

• Encoder / resolver interface (EnDat / resolver)

• KSD1-64: Dual‑connector design for high‑current wiring

X11 – Safety & Digital I/O

• Safety signals: E‑stop, safety door interlock

• 24 V digital inputs / outputs

• Safety level: EN ISO 13849‑1 Cat. 4

X13 / X14 – Servo Bus

• X13 IN: Servo bus input (from controller or previous drive)

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

• Bus type: Interbus (KUKA internal servo bus)

4. Main Features

• Heavy‑duty performance: 64 A peak current for high‑torque motors

• High dynamics: Fast torque response, precise positioning (±0.01°)

• Full protection: Overcurrent, overload, overvoltage, undervoltage, overtemperature, short circuit, ground fault, motor temperature monitoring

• Motor compatibility: KUKA permanent‑magnet synchronous motors (heavy‑duty series)

• System compatibility: Works with KSS robot software; parameters configurable via KCP teach pendant or WorkVisual

• Diagnostics: LED status + detailed fault codes in KCP / WorkVisual

5. Safety Instructions

• High voltage hazard: Intermediate circuit DC voltage up to 585 V.

  → After switching off the controller, wait at least 5 minutes for capacitors to discharge before wiring or maintenance.

• Do not open, modify, or bypass internal components or safety circuits.

• Keep ventilation slots free of dust and obstructions.

• Connect all safety interlocks correctly; never bypass safety loops.

• Ensure reliable protective earth (PE) connection for cabinet, drive, and motor.

6. Installation & Wiring

1. Mount the drive vertically in a KRC2 cabinet slot.

2. Connect X1 to DC intermediate circuit and 24 V control power (observe polarity).

3. Wire X2 to motor power, brake, and encoder cables; use shielded cables with proper grounding.

4. Servo bus: X13 IN ← controller / previous drive; X14 OUT → next drive.

5. Connect X11 safety and I/O signals with twisted‑pair cables.

6. Tighten all power terminals to the specified torque.

7. Operation

• Power‑on: After controller start‑up, DC bus voltage rises automatically.

• Standby: Green LED ON, red LED OFF → drive ready.

• Manual mode (T1/T2): Enable permit switch; jog axes via KCP.

• Automatic mode: Drive follows robot program (PTP / LIN / CIRC motions).

• Fault reaction: Red LED ON, drive disables output. Read fault code via KCP / WorkVisual for troubleshooting.