Kuka KR 30 HA, Assembly Instructions Manual

Page: 14 / 122

Assembly Instructions
14 of 122
MA KR 30, 60 HA, KR C4 04.11.02 en
3.3.1 Wrist axis motor units A4 to A6
The wrist axes are driven by three motor units. These are fastened to the arm (Fig. 4/4) by
means of screws. Motor units A4 (3) and A5 (1) are of the same design and drive the respec-
tive wrist axes via toothed belts and shafts. Wrist axis A6 is driven directly by motor unit
A6 (2) via a push--on shaft (5).
Each motor unit for the wrist axis drives consists of a brushless AC servomotor with a perma-
nent--magnet single--disk brake and a hollow--shaft resolver (both integrated).
1 Motor unit A5
2 Motor unit A6
3 Motor unit A4
4 Arm
5 Shaft
4
5
1
A4
A6
A5
2 3
Fig. 4 Wrist axis motor units A4 to A6