Kuka KR 30 HA, Руководство по сборке

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Assembly Instructions
18 of 122
MA KR 30, 60 HA, KR C4 04.11.02 en
3.5 Rotating column
The rotating column (Fig. 8/2) is the assembly located between the link arm and the base
frame. Screwed to the base frame (4) through a special reduction gear unit (3), which allows
it to rotate, it performs movements about rotational axis 1 (1). It has an effective software
turning range of 185
°
in both the (+) and (--) directions, measured from the zero position of
axis (6). This range is limited by mechanical limit stops with a buffer function in addition to
the software limit switches. This limit stop system operates with a trailing stop acting on both
sides, which is installed in the base frame and mechanically limits the large turning range of
185 ˚ in both directions.
1 Rotational axis 1
2 Rotating column
3 Special reduction gear unit
4 Base frame
5 Main axis motor unit A2
6 Zero position A1
6
5
--185
°
+185
°
2
3
4
1
Fig. 8 Rotating column with turning range (shown here: KR 30 HA)