Kuka KR 6-2 - Wrist

Operating Instructions
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BA KR 6, 16 F, KR C4 12.10.07 en
3.2 Wrist
The manipulator can be equipped with two different three--axis in--line wrists (Fig. 2) for a
6 kg (IW 6 II) or a 16 kg (IW 16 I) payload. The respective wrist is screwed to the arm via
the flange (4). The wrist axes A4, A5 and A6 are driven by means of the shafts (1, 2, 3). End
effectors are attached to the mounting flange (6) of axis 6. Each axis has a measuring de-
vice (5), through which the mechanical zero of the respective axis can be checked by means
of an electronic probe (accessory) and transferred to the controller . Directions of rotation,
axis data and permissible loads can be found in the Chapter “Technical data”. Each wrist vari-
ant can only be used with the appropriate “Arm” assembly (see Section 3.3).
1
2
3
4
5
6
5
IW 6 II
IW 16
IW 16 F
1 Shaft for axis 6 4 Flange (arm--wrist)
2 Shaft for axis 5 5 Measuring device
3 Shaft for axis 4 6 Mounting flange
Fig. 2 In-- line wrist