Operating Instructions
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BA KR 6, 16 F, KR C4 12.10.07 en
3.4 Link arm
The link arm (Fig. 6/1) is the driven element of axis 2. It pivots about rotational axis A2 (3)
through an effective software range from +35° to --155°⎯referred to the electrical zero posi-
tion of axis A2, which corresponds to the horizontal position of the link arm in Fig. 6. The ef-
fective software swivel range is limited by mechanical limit stops with a buffer function in addi-
tion to the software limit switches.
1
3
+35°
2
--155˚
1Linkarm
2 Main axis motor unit A2
3 Rotational axis A2
Fig. 6 Link arm with turning range
The link arm (Fig. 7) houses gear unit A2 (2) at its upper end, and gear unit A2 (3) at its lower
end. The gear units (2, 3) are used both as drive elements and to support the arm and link
arm assemblies. The reference notches (1) and the gauge cartridges in the arm and the rotat-
ing column serve to define and locate the mechanical zero position of axes 2 and 3.
The cables for energy supply and signal transmission are routed from the rotating column
to the arm in the interior of the link arm housing (see Chapter 8, “Electrical installations”).
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