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KUKA 1FK7101-5AZ91-1ZZ9-Z S07
Product Name
KUKA 1FK7101-5AZ91-1ZZ9-Z S07 Permanent Magnet Synchronous Servo Motor
Product Overview
The 1FK7101-5AZ91-1ZZ9-Z S07 is a KUKA-specific permanent magnet synchronous servo motor based on the Siemens 1FK7 platform and intended for KUKA KR C4 and KR C5 robot joint drives. The ZS07 designation identifies a special shaft, connector and brake arrangement. The motor pairs with KUKA KSP40 and KSP64 servo drive modules.
Detailed content
Technical Specifications
Rated power: 4.2–4.4 kW
Rated current: 8.5 A
Rated speed: 2250–3000 rpm
Maximum speed: 5000 rpm
Rated torque: approximately 18.8 Nm
Static torque: approximately 26 Nm
Peak torque: 56 Nm or greater
Moment of inertia: 93.4 kg·cm²
DC bus voltage: approximately 195 VDC
Encoder: EnDat 2.2 absolute encoder, 16-bit, single-turn and multi-turn
Feedback compatibility: DRIVE-CLiQ compatible
Shaft design: keyless polished shaft with radial tolerance class N
Brake: 24 VDC spring-applied power-off self-locking brake
Brake torque: approximately 27 Nm
Cooling method: natural cooling
Protection rating: IP65 motor body; IP67 shaft end
Vibration resistance: up to 5 g
Shock resistance: up to 10 g
Flange size: shaft height 100 mm
Weight: approximately 18 kg with brake
Operating temperature: -20 °C to +40 °C
Origin: manufactured in Germany
KUKA spare-part reference: 00-119-767
Functional Features
High dynamic torque and low moment of inertia
Absolute-value feedback with no return-to-reference required after start-up
High power density for narrow robot-joint installations
Integrated S07 power-off self-locking brake
Absolute positioning to micrometre-level repeatability
Rotatable power and signal connector
Integrated temperature sensor
Encoder fault monitoring
Material Composition
Housing: aluminium and steel hybrid motor enclosure
Rotor: neodymium-iron-boron permanent magnets
Shaft: keyless polished steel shaft
Sealing system: IP65 and IP67 shaft-end sealing components
Connector system: industrial circular power and feedback connectors
Brake assembly: spring-applied electromechanical holding brake
Structural Features
Compact permanent magnet synchronous motor construction
Special ZS07 shaft, connector orientation and brake package
Spline or keyless shaft interface for robot-joint connection
Rotatable connector head for flexible cable routing
Working Principle
The KUKA controller produces torque and speed commands through the KSP drive. The drive energises the stator windings in the correct sequence, creating a rotating magnetic field that interacts with the permanent-magnet rotor. The absolute encoder returns position feedback, closing the control loop for precise speed, torque and position control.
Application Scenarios
KUKA articulated robot base, shoulder and elbow joints
Welding robot arms
High-speed picking and handling systems
CNC auxiliary axes
Industrial applications in automotive manufacturing, electronic assembly, metal processing and logistics handling
Installation Requirements
Install the motor into the robot joint with its matching harmonic or RV reducer
Align the keyless shaft accurately
Route KUKA-approved integrated power and feedback cables
Bond cable shields to protective earth at both ends in accordance with the KUKA manual
Verify flange orientation and connector direction before installation
Confirm compatibility with the ZS07 shaft arrangement
Usage Notes
The ZS07 suffix is not interchangeable with a standard Siemens 1FK7101 shaft arrangement
Verify the flange and connector orientation before ordering a replacement
Use only KUKA-approved motor cables to preserve DRIVE-CLiQ signal integrity
Use the specified spring-compression tool when disassembling the brake
The brake locks the shaft on loss of power
Do not disable brake safety provisions during maintenance
