Kuka KR 30 HA, Assembly Instructions Manual

Page: 19 / 122

3 Product description (continued)
19 of 122 MA KR 30, 60 HA, KR C4 04.11.02 en
The main axis motor unit for axis 1 (Fig. 9/3) is installed in the rotating column with a special
reduction gear unit (4), and the main axis motor unit for axis 2 (1) is mounted on the side of
the rotating column with its special reduction gear unit (2).
Part of the manipulator electrical installations is routed inside the rotating column.
1 Main axis motor unit A2
2 Special reduction gear unit A2
3 Main axis motor unit A1
4 Special reduction gear unit A1
1
4
2
3
Fig. 9 Structure of rotating column
3.6 Base frame
The base frame (Fig. 10) is the stationary part of the manipulator, on which the rotating col-
umn turns with the link arm, the arm and the wrist. Its base flange (5) features through--
holes (4) for holding the manipulator down and two locating boreholes (6), with which the ma-
nipulator can be placed on two locating pins (accessories, see Chapter 7, “Installation”).
Attached to a flange inside the base frame housing (3) is the special reduction gear unit (1)
of axis 1. Also integrated into this flange is the double--acting trailing stop, which together with
a stop block on the rotating column mechanically safeguards the software--limited movement
range of 370
°
about rotational axis 1.
In the base frame, the installation cables leading to the rotating column are routed stress--
free about rotational axis 1 of the manipulator in a flexible tube. The space between the rotat-
ing column and the base frame is provided with two detachable, one--piece covers (2, 8).
The sockets for the connecting cables from the manipulator to the control cabinet are located
on the RDC box (10) and MFH (7).
The reference notch (11) necessary for determining the mechanical zero position is found
on the bracket (9).