Kuka KR 30-2, Manual

Page: 11 / 85

11 / 85 Issued: 08.09.2015 Version: Spez KR 30, 60-2 JET V1
3 Product description
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Electrical installations
In-line wrist
The robot ( >>> Fig. 3-3 ) is fitted with a 3-axis in-line wrist (1). The in-line wrist
contains axes 4, 5 and 6. For attaching end effectors (tools), the in-line wrist
has a mounting flange. The mounting flange conforms, with minimal devia-
tions, to ISO 9409-1:2004.
Arm
The arm (2) is the link between the in-line wrist and the link arm. It houses the
motors of wrist axes A4, A5 and A6. The drive for the arm comes from motor
A3 via the gear unit between the arm and the link arm. The maximum permis-
sible swivel angle is mechanically limited by a stop for each direction, plus and
minus. The accompanying plastic buffers are attached to the arm. The arm
also houses the motor of axis 3.
Link arm
The link arm is the assembly located between the arm and the rotating column.
It consists of the link arm body and the gear units and bearings for axes 2 and
3.
Rotating column
The rotating column forms the interface with the carriage of the axis module.
It is bolted to the carriage. The rotating column also supports the link arm. On
both sides of the rotating column there are four holes for the fastening screws
of the fork slots or the transport frame. The robot junction boxes for the robot’s
electrical equipment are also mounted on the rotating column.
Electrical
installations
The electrical installations assembly comprises the entire cabling for the con-
trol and supply of the motors. The electrical installations are described in the
operating instructions, in Chapter .
Fig. 3-3: Main assemblies of the KR 30, 60 JET ROBOT
1 In-line wrist 4 Rotating column
2 Arm 5 Link arm
3 Electrical installations