Kuka KR 16-2 - Wrist Axis Motor Units A4 to A6

3 Product description (continued)
15 of 206
BA KR 6, 16 F, KR C4 12.10.07 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. 5/4) by
means of screws. Motor units A5 (1) and A4 (3) 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). The wrist axis
motor units are of the same structure for all arm variants, though for the in--line wrist 16 kg
they deliver a higher performance.
1 Motor unit A5
2 Motor unit A6
3 Motor unit A4
4Arm
5 Shaft
4
5
1
A4
A6
A5
2
3
Fig. 5 Wrist axis motor units A4 to A6