10 / 125 Issued: 16.03.2016 Version: MA KR 300 470-2 PA V5
KR 300-2 PA, KR 470-2 PA
Wrist The robot variants KR 300 PA and KR 470 PA robots are equipped with a two-
axis wrist for rated payloads of 300 kg and 470 kg, respectively. The wrist is
fastened to the arm via a gear unit and motor and is driven by these. The main
components of the wrist are the swing frame, axis 6 motor and the correspond-
ing gear unit. The mounting flange embodies the output side of axis 6. The mo-
tor unit consists of a brushless AC servomotor with a permanent-magnet
single-disk brake and hollow-shaft resolver, both integrated. The permanent-
magnet single-disk brake performs a holding function when the servomotor is
at rest and contributes to the braking of axis 6 in the event of short-circuit brak-
ing (e.g. if one or more of the enabling switches is released while in Test
mode). Short-circuit braking must not be used to stop the robot under normal
circumstances. End effectors can be attached to the mounting flange of axis
6. The wrist is designed as a hollow-shaft wrist and features a through-hole
with a diameter of 60 mm.
The assembly also has a gauge mount with a gauge cartridge, through which
the mechanical zero of the axis can be determined by means of a dial gauge
or an electronic probe (accessory) and transferred to the controller.
Arm The arm is the transmission element between the wrist and the link arm. The
swing frame of the wrist is mounted on the arm via gear unit A5. This motor/
gear combination embodies axis 5, which cannot be freely controlled during
operation. The arm is driven by an AC servomotor via a gear unit that is in-
stalled between the arm and the link arm. This gear unit is also the bearing for
the arm. The maximum permissible swivel angle is mechanically limited by a
stop for each direction, plus and minus. The buffers are attached to the arm.
The corresponding stops are situated on the link arm.
Fig. 3-2: KR 300 470-2 PA: main assemblies
1 Wrist 5 Electrical installations
2 Arm 6 Base frame
3 Link arm 7 Rotating column
4 Counterbalancing system
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