CONTROL CABINET

KR C1

Control Cabinet Hardware

e Copyright KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of
the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions,
however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless,
discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this
documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.

Length of documentation: 19 pages

PD Interleaf

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Contents

1 Control cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1 General maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1.1 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.1 Processor unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.2 Power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.3 Cooling by heat exchanger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.4 Cooling by air conditioner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Peripheral interfaces, general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Power unit interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.5 Power unit equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.6 Exchange of PM6--600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2 Servo module PM6--600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Front view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3.1 Jumpering of the motor connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3 Safety logic module FE201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.1 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.1.1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2 View FE201 version A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3 View FE201 version B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.4 EMERGENCY STOP and safety circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.5 Drives ON / OFF circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.6 Operating mode switchover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

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1 Control cabinet
1.1 General maintenance
With the exception of battery replacement, the controller (processor unit) is maintenance--
free.
Preventive maintenance is recommended wherever dirt, corrosion and wear occur.

Before maintenance or repair work is started, it must be ensured that the incom-
ing power cable is deenergized and that measures have been taken to prevent it
from being inadvertently energized again. It must also be ensured that no current--
carrying cables or components can be touched. In addition, the main switch must
be turned to “OFF” and locked.

All supply conductors up to the main switch are still live even when the main
switch is turned off.

CAUTION! Particularly important: maintenance and repair work may be performed only by
trained personnel aware of the hazards involved.

1.1.1 Cleaning

CAUTION! Do not use compressed air to clean the system, as this could cause dirt to pene-
trate into electrical components. Compressed air may be used only when ex-
pressly specified.

G Remove any dust deposits with a dry brush.

G Clean control cabinet with a cloth soaked with a mild cleaning agent.
G Clean cables, plastic parts and hoses with solvent--free cleaning agents.

CAUTION! The manufacturer’s instructions must be observed when using cleaning agents.

CAUTION! It must be ensured that no cleaning fluid enters electrical components.

G Remove any corrosion and, where permissible, protect the affected areas with paint,
grease or oil.
G Replace damaged, illegible or missing inscriptions, labels and plates.

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1.2 Structure
The controller contains all the components and functions which are required to operate the
robot. It comprises the processor and power units, which are both installed in a common con-
trol cabinet.
1.2.1 Processor unit
The processor unit includes the modules highlighted in Fig. 1.

CD and floppy drives Swing frame

Q1
Interfaces

A1

Fig. 1 Processor unit

With its fitted components, the processor unit performs all the functions of the control
hardware. These are:
-- Windows user interface with visual display and input
-- Program creation, correction, archiving, and maintenance
-- Diagnosis, start--up assistance
-- Sequence control
-- Trajectory planning
-- Control of the servo power unit
-- Monitoring functions
-- Parts of the safety logic
-- Communication with external units (other controllers, host computers, PCs, network)
The control hardware is composed of the following modules:
-- Standard PC hardware with Pentium processor
-- Multi--function card (MFC)
-- Digital servo--electronics (DSEAT)
-- Resolver/digital converter (RDC) on the robot

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 G Standard PC Hardware
With its powerful Pentium processor and main memory, the standard PC hardware forms the
basis of the processor unit. The standard PC also includes a hard disk for storing the entire
control software, including online help and online documentation, a floppy disk drive for
archiving purposes and a CD--ROM drive for reading the CD--ROM supplied in the cabinet.
The CD--ROM contains the operating system, Windows, the control software including the
relevant technological process, the online help and the complete documentation for the con-
trol cabinet and the robot.
G Multi--function card
The multi--function card incorporates the system and user I/Os and an Ethernet controller,
and forms the interface between the KCP and the PC. The card is designed as a PC plug--in
card and accommodates up to two DSEAT modules.
G Digital servo--electronics (DSEAT)
The DSEAT module fitted on the multi--function card with its own DSP (digital signal proces-
sor) is responsible for control of a servo power module with phase current command values
and parameterization data, processing of the error and situation information read by the
servo power module and communication with the module for R/D conversion.
G Resolver/digital converter (RDC)
Installed on the robot base, the R/D converter with its own DSP (digital signal processor)
performs the functions of resolver power supply, R/D conversion, open--circuit monitoring of
the resolvers and monitoring of the motor temperature. This converter communicates with
the DSEAT via a serial interface.

1.2.2 Power unit

The power unit comprises the areas highlighted in Fig. 2.
G Power infeed with mains filter, main switch with fuse and m.c.b.
G Servo power module with supply unit and power supply for controllers
G Safety module (on processor unit)
G Back--up battery for control hardware
For data protection, the computer is supplied with power by a battery for a maximum of 10x1
minute in the event of power failure.
G Transformer (optional)
G Fans for cooling the cabinet
-- The servo power module incorporates:
G Power supply
G Ballast circuit
G Low--voltage power supply
G Servo--amplifiers for 6 robot axes
G Brake switch (in common for all 6 robot axes)
G Monitoring of motor currents and short--circuit protection
G Monitoring of heat sink, air, ballast resistor and fan temperatures
G Interface with the DSEAT

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 Front view of cabinet Rear view of cabinet
with door closed open

Ballast resistor

External fan
Trans---
former

Transformer
Main switch
Front view of cabinet (optional)

with swing frame without swing frame

Internal fan

Q1
PM6--- 600
Heat exchanger

A1 Servo power
module
Btry

Power infeed with

mains filter FE201

Fig. 2 Power unit

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 The control cabinet is divided into two independent cooling zones. The inner zone, containing
the entire control electronics, is cooled by a heat exchanger or an air conditioner (optional).
In the outer zone, the ballast resistor, the heat sink of the servo module and the transformer
(optional) are cooled directly by ambient air.
The controller is designed for an ambient temperature of max. +45 ˚C with a heat exchanger
or max. +55 ˚C with an air conditioner.

CAUTION! Upstream installation of filter mats causes an excessive rise in temperature and
hence a reduction in the life of the installed devices !

1.2.3 Cooling by heat exchanger

Front view Rear view

Heat flow Heat flow
Inner circuit Outer circuit

1 = Heat exchanger
2 = Fan, inner circuit
3 = Fan, outer circuit

Fig. 3 Cooling by heat exchanger

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1.2.4 Cooling by air conditioner
See air conditioner (optional) 69--000--456
1.3 Peripheral interfaces, general
See peripheral interfaces (optional)
1.4 Power unit interfaces
The connector panel in the control cabinet is available in a variety of configurations depend-
ing on the version concerned.
1.5 Power unit equipment

CAUTION! Take care when exchanging the PM6--600 to ensure that the motor connectors are
reinserted in the correct positions (see Fig. 6)!

1.6 Exchange of PM6--600

CAUTION! Disconnect the mains cable before removal work is started and take measures to
prevent it from being reconnected.

Voltages in excess of 60 V can still be present in the PM6--600 up to 5 minutes af-

ter the controller has been switched off !

Removal of PM6--600:
-- Unplug connector from PM6--600
-- Release 6 rotary locks
-- Pull out PM6--600 to the front on the guide rails
Installation of PM6--600:
-- Check that the seals on the heat sink are complete
-- Insert PM6--600 onto the guide rails
-- Close 6 rotary locks
-- Insert connector on PM6--600

CAUTION! When taking the PM6--600 out of the guide rails, it is important to remember that it
weighs some 29 kg !

2 Servo module PM6--600

2.1 Structure
The PM6--600 is designed as a sliding frame. All the function blocks are cooled by a common
heat sink whose cooling fins, when installed, are located in the directly ventilated outer area
of the control cabinet. Hence any power dissipated by the module is routed directly outwards
and not into the interior of the cabinet.
Special features:
-- 600 V technology; a transformer is not required with a mains voltage of 400 V -- 415
V

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 -- All 6 servo drive units in one module
-- All connections pluggable
-- Connections to the PC (DSEAT) via a 40--pole ribbon cable
-- Output stages are equipped with IGBTs; modern, safe technology
-- Plug & Play technology: no adjustments are required on the module
-- Path--oriented braking of the axes after the drives are switched off
-- Controlled low voltage supply
2.2 Function blocks
The PM6--600 incorporates :
G Clocked, controlled low voltage supply for the following modules
-- Periphery (27 V DC / 6 A + 4 A, individually fused)
-- PC (27 V DC / 6 A, backed up by external batteries)
-- Equipment within the cabinet (27 V DC / 4 A)
-- Holding brake for motors (26.5 V DC / 7.5 A)
-- Lead battery for backing up the PC (26.8 V DC) incl. charging and discharging control
-- PM6--600 logic (15 V DC, --15 V DC, +5 V DC, with back--up)
-- PM6--600 drivers (16 V AC / 100 kHz)
G 600V supply module for output stages incl.
-- Main contactor and starting circuit
-- Mains overvoltage limiter
-- Intermediate circuit rectifier (600 V DC / 4 kW)
-- Ballast circuit 800 W (can be extended to 2 kW)
-- High--speed discharge of intermediate circuit
-- Temperature monitoring
-- Suppression elements
-- Brake driver (25 V DC / 7.5 A) with brake monitoring
-- Interface with safety module (FE201)
G IGBT (=isolated gate bipolar transistor) servo output stages for all 6 standard robot axes
incl.
-- Power adaptation to motor sizes via motor connector selection
-- Potential--free motor current measurement
-- Intermediate circuit electrolytic capacitors
-- Driver boards with integrated short--circuit protection of the output stage
-- Short--circuit braking relay

G Logic module incl.

-- Bidirectional interface for parallel data transmission from/to DSEAT with parity check
-- Current controller and pulse width modulation
-- Logic operations (e.g. drive enables, brake control)

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 -- Fault detection: brake fault, overvoltage, undervoltage, battery charge,
overtemperature, motor overcurrent, current controller limitation,
transmission error, sumcheck error
-- Detection and signalling of: motor connector assignment, ready for operation

2.3 Front view

27 V supply
Mains connection 400 V

F8:27,1V/10AT
Ballast resistor
X101

F7:26,5V/10AT
X203

F6:26,5V/6,3AT

F5:26,5V/6,3AT
26,5V / 6A
26,5V / 4A
PM6--600
F4:24V/10AT 24V / 6A
X102 = FUSE
26,5V / 4A
27 V 27,1V/7,5A
= LED
X103

X202

= MONITOR
--15V
Safety logic +15V
X106

+ 5V
X105

F1:AKKU/10AF

Ballast temperature

X303 X302
M M
Motor, axis 3 Motor, axis 2
X303 X302
L L
READY U<>

Enable:
A1
X301 A2
U(600V) X305
M (1V=100V) M
A3
Motor, axis 1 A4 Motor, axis 5
A5
X605

A6
X301 BRAKE X305
L L
Watchdog

X306 X304
M M
Motor, axis 4
A6
A1
A3

A2
A4
A5

Motor, axis 6
U W

U W

I :M I :M
U
X306 (5V=Imax) (5V=Imax) X304
L L

X606

Logic DSEAT
grounding

Fig. 4 Front view PM6--600

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2.3.1 Jumpering of the motor connectors

The motor connectors are inserted in accordance with the robot type connected.
Upper plug position (M) : high current
Lower plug position (L) : low current

The controller detects the connector position and signals an incorrectly connected motor
cable.

CAUTION! The controller does not detect whether the motor cables have been interchanged.
It is important to maintain the correct assignment of the motor cables to the
respective axes!

Connector assignment Robot type

PM 6/600

M X303 X302 M
axis 3 axis 2
X303 X302
L L
XA3 XA2 KR 6
KR 15
M X301 X305 M
axis 1 axis 5
X301 X305
L L
XA1 XA5
M X306 X304 M
axis 6 axis 4
X306 X304
XA6 L L
XA4

PM 6/600

M
X303 X302
M XA2
axis 3 axis 2
X303 X302
XA3 L L
KR 30
KR 45
XA1 M
X301 X305
M
axis 1 axis 5
X301 X305
L L XA5

M M
X306 X304
axis 6 axis 4
XA6 L
X306 X304
L XA4

Fig. 5 Connector assignment

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 Connector assignment Robot type

PM 6/600

XA3 M X303 X302 M XA2

axis 3 axis 2
X303 X302
L L
KR
30L15
XA1 M X301 X305 M
axis 1 axis 5
X301 X305
L L
XA5
M X306 X304 M
axis 6 axis 4
X306 X304
XA6 L L
XA4

PM 6/600

M M
XA3 X303 X302 XA2
axis 3 axis 2
L
X303 X302
L
KR 125
KR 125 S
M X301 X305 M
KR 150
XA1 axis 1 axis 5 XA5 KR 200
X301 X305
L L

M M
XA6 X306
axis 6
X304
axis 4
XA4
X306 X304
L L

Fig. 6 Connector assignment

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 Overcurrent
Overvoltage
Heat sink temp.
Ballast fault
Internal temp. Connector position
Brake fault Rapid gauging
ID code Watchdog Battery Ballast ON
Undervoltage
Bus driver

D/A
Parity
Data + addresses
DSEAT connection
Current controller
Register
PWM
Reset
Reset logic
& Oscillator

Internal temp. A/D

Control board

Overcurrent
Switched--mode power supply PWM
U actual

Heat sink temperature

Mains 400 V AC

27 V ext.

Battery ext.

U setpoint

3 I
actual
K1 K2

Connector position feedback

Rectifier
Output stage

+
Ballast resistor ext.

Ballast switch
Intermediate circuit capacitor

K1

Power unit Brake switch

SM
3

Holding brake

Fig. 7 Block diagram PM6--600

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3 Safety logic module FE201

Incorrect settings of the DIP--FIX switches X1 --X10 can lead to dangerous mal-
functions of the robot in certain circumstances! Before switching the controller
on, it is therefore imperative to check the settings of the DIP--FIX switches X1 --
X10 again according to the adjustment instructions in this section!

CAUTION! If these instructions are not observed there is a risk of extensive damage to the
robot!

3.1 Function blocks

Module FE201 serves to implement the safe switch--off function and the Drives ON circuit.
It comprises:
-- Voltage monitoring for 27 V
-- Dual--channel EMERGENCY STOP circuit
-- EMERGENCY STOP delay
-- Dual--channel user safeguard (operator safety and enabling circuit)
-- Operating mode switchover (Test / Automatic)
-- Drives ON circuit

3.1.1 Settings
To ensure the safe functioning of the robot, it must be checked that the DIP--FIX
switches have the following settings before the robot is put into operation:
--X1 -- X6
These DIP--FIX switches serve the purpose of setting the EMERGENCY STOP delay in Au-
tomatic mode.

X1 and X4 X2 and X5 X3 and X6 Emergency Stop

delay

closed closed closed 0.5 s

closed closed open 0.7 s
closed open open 1.0 s
open open open 1.3 s (default setting)

--X7 -- X9

X7 -- X9 External axes
closed not present (default setting)
open present

--X10

Position “a” (default setting) Emergency Stop switch--off with path--

oriented braking
Position “b” Emergency Stop switch--off without path--
oriented braking

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 3.2 View FE201 version A

”Drives ON” relay with LED

Connector interface

K9
Voltage supply connector

V37
X924

C4

R41

V38
“Drives ON” relay
X926

F4
R40

V35
of MFC with LED

K14

V34
X10 27V voltage monitoring
X9

F11
DIP--FIX switch with LED

K7
X925

R29
X10

K8

K13
FK connector PM...
X8
X7

for external axes (optional)

R31

V27
V29

R30

R32
V30
R39
V26 V29
R38 R34
”Test” relays with LED
C13

C12
DIP--FIX switches
V25 V28

D3
C15
X7--X9 R33

C13
R19

V28
X922

FK connector PM... F10

K6
R26

R23

R24

V39
for basic axes
K5

”Safety” relays

X927
with LEDs
R27

Connector X927
R28

V24
R25

V22

main switch operation

V21 V23
C11

C9

V20 V19
C3

LED V39 main switch operation

L10

FK connector
X923

MFC
K4
K3

R35

”Automatic” relay with LED

C8
L12

R37

V33

X6
L11

V32 V35
R21

R22

X5
C14

R36

X4
V31 V34
R8

R20
V15 R17
F5 F6 F7 F8 F9

C10
D2

V17
DIP--FIX switches
R16

FK connector V13
R15
V18
C7 X4--X6
R11
(Standard) interface X11
R18
K1

K2

R10
R12

X2
R1

R2
X921

(VW) FE202 X1
R47

R9
V6
R13

R6

C5

DIP--FIX switches
D1
V10
V14

X1--X3
R7
V1
V5

R5 V8
V4 V9
F3 F2 F1

C2
R4

V3 V12
C6

C1
V16
V7

R3 R14
V2 V11

”EMERGENCY STOP” relays with LEDs

Fig. 8 FE201 version A

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3.3 View FE201 version B

”Drives ON” relay with LED

“Drives ON” relay of MFC with LED
”Test” relays with LED
Voltage supply connector
Connector interface

R51 R52 R53 R54 R55

X
X926
K9

X
X924

X
27V voltage monitoring
with LED

X
K14
DIP--FIX switch X10

X
Configuration of the OR resistors

R48 R49 R50

X
a b

F11

Label, component side

X
FK connector PM...

R29
X925

K7

for external axes (optional)

K8

X
K13
R30

R47
X
R45 R46

X
D3
DIP--FIX switches

X
X7--X9

V28

VFE201
C12

FE201
X927
Connector X927 main switch operation
D4

V39
FK connector PM...
R23
X922

for basic axes

R24

U2

LED V39 main switch operation

N3
K6
K5

U1

N1

”Safety” relays with LEDs

operator safety and enabling
C9
C11

C3

”Automatic” relay with LED

FK connector MFC
soldering side
X923

L10

Label,
R36
K3

K4

R35

C8
L12

C14
L11

R2
C1
C6

R8
C10

DIP--FIX switches
X4--X6
FK connector
R1

(Standard) interface X11

(VW) FE202
U4
X921

K1

K2

V61

D1

DIP--FIX switches
X1--X3

Thermal fuses for ”EMERGENCY STOP” relays with LEDs

safety circuit

Jumpers : X7 -- X9 with 6 axes, closed

with > 6 axes, open

X1 -- X6 EMERGENCY STOP delay approx.1.3s, open

approx. 0.5s, closed

X10 Pos. b: EMERGENCY STOP without path--oriented braking

Pos. a: EMERGENCY STOP with path--oriented braking

Fig. 9 FE201 version B

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3.4
EMERGENCY STOP and safety circuit
26V
X921 1

X11 1 X11 19
Fig. 10 EMERGENCY STOP and safety circuit

external
X11 2 X11 20

X921
X923
3
5
X921
X923
4
7 X923 9
FE201
X807 5 X807 7 X807 9
MFC
X806 16 X806 14 X806 12

X19M1 2 X19M1 4 X19M1 9

Emergency Stop
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KCP X806 1 X806 3 X806 7

Enabling
X806 8

X806 15 X806 13 X806 11 X806 10

MFC
X807 6 X807 8 X807 10 X807 11

X923 6 X923 8 X923 10 X923 11

X921 6 X921 7 X921 12 X921 13 X921 18 X921 19
X11 3 X11 21 X11 5 X11 23 X11 7 X11 25

external Emergency Stop Enabling Safeguard

X11 4 X11 22 X11 6 X11 24 X11 8 X11 26

X921 9 X921 10 X921 15 X921 16 21 22

K14 K7 K8 K3 K4
TEST TEST AUTO AUTO
K1 K2 K2 K1

K5 K6 K6 K5
x1 x1
x2 x2
x3 x3

K3 K4 K1 K1 K5 K5
X923 22 24 X923 23 X923 26 X923 27
X807 22 24 X807 23 X807 26 X807 27 K2 K2 K6 K6
K1 K2
X921 24 27 25 26 30 33 31 34
V7 V16

Safety channel 2
Safety channel 1
Emergency Stop
Emergency Stop
Emergency Stop

K5 K6 X11 9 10 27 28 11 12 29 30
channel 2
channel 1

X921 11
delayed

Channel 1 Channel 2 Channel 1 Channel 2

X11 40
-- Emergency Stop circuit -- Safety circuit
external
X11 37
MFC MFC MFC MFC external
V22 V24
X921 2
0V
Emergency Stop 1 Emergency Stop 2 Operator safety 1 Operator safety 2
Enabling 1 Enabling 2

Safety circuit
17
 3.5

18
26V
X924 1 X923 12
X923 18 19 X807 12
MFC
X964 1 X806 9
X808 18 19
X19M1 6
MFC
Mains 400V PC ready FE201 KCP 26V KCP
X202 1 Drives OFF
X101 1 2 3
X808 20 21

PM6/600 Drives ON
X923 20 21
A1--6 +26V X19M1 3 X19M1 2
X922 16 17 X925 16 17
X105 16 17 X105 16 17 X806 6 X806 5
Power supply MFC
26V X807 15 X807 16
PM6/600 PMx/600
Drives ON / OFF circuit

A1--6 A7--12
Drives ready Drives ready X923 15 X923 16
0V

X921 20
X105 18 19 X105 18 19 X11 43
external
K14 K7
K1 X922 18 19 X925 18 19 Drives ON

X11 44 K8
X9
DIP--FIX X921 23

K1 X922 1 3 X925 1 3
K2 Emergency Stop X105 1 3 X105 1 3
K2 PM6/600 K1 K2 PMx/600 K1 K2
Emergency Stop A1--6 A7--12
a b

Charging resistors
X105 2 4 X105 2 4

X10
Safety K5 X922 2 4 X925 2 4
MFC
Safety K6
X7 X8
DIP--FIX DIP--FIX

Fig. 11 Drives ON / OFF circuit

Drives ON K9

St/Lt/ 07/Steuerschr KR C1 en
X921 14
Drives ON ext.

X11 41
Power supply external
Intermediate circuit X922 20 X922 7 X922 20 X925 7
X105 20 X105 7 X105 20 X105 7 X807 30 Drives OFF

T1 T2 T1 T2
X923 30 X11 42
PMx/600
A7--12
X202 3 X921 17
ca. 600V
K1 K2 K1 K2

PC+PM ready
PC+PM ready
K14 K9
X964 2
V35 V38
X924 2
0V

Drives ON

10.97.01
 3.6

10.97.01
T1
T2
Auto
Extern
26V KCP
Operating modes

FE201
KCP
X19M1 5 X19M1 4
Operating mode switchover

X806 8 X806 7
MFC
X807 13 X807 14

X923 13 X923 14

K8 K7 K4 K3

K7 K8 K3 K4 X926 3 2 1

K3 K7 K3

K7 K8 K4

Fig. 12 Operating mode switchover

X923 28 X923 29
X807 28 X807 29

St/Lt/ 07/Steuerschr KR C1 en
X921 35 29 32

X11 48 46 47

Test Automatic
external

TEST mode
AUTO mode

MFC MFC

K7 K8 K3 K4

V27 V33

/82.6/ 0V 0V //82.1
Test Automatic
mode group mode group

19