12 / 141 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
KR AGILUS sixx
The robot consists of the following principal components:
In-line wrist
Arm
Link arm
Rotating column
Base frame
Electrical installations
In-line wrist
A4, A5, A6
The robot is fitted with a 3-axis in-line wrist. The in-line wrist consists of axes
4, 5 and 6.
There are three 4/2-way solenoid valves and a CAT5 data cable in the in-line
wrist that can be used for controlling tools.
The in-line wrist also accommodates the 10-contact circular connector of the
wrist I/O cable and interface A4 for the energy supply system.
Arm
A3
The arm is the link between the in-line wrist and the link arm. The arm is driven
by the motor of axis 3.
Link arm
A2
The link arm is the assembly located between the arm and the rotating column.
It houses the motor and gear unit of axis 2. The supply lines of the energy sup-
ply system and the cable set for axes 2 to 6 are routed through the link arm.
Rotating column
A1
The rotating column houses the motors of axes 1 and 2. The rotational motion
of axis 1 is performed by the rotating column. This is screwed to the base
frame via the gear unit of axis 1 and is driven by a motor in the rotating column.
The link arm is also mounted in the rotating column.
Base frame The base frame is the base of the robot. Interface A1 is located at the rear of
the base frame. It constitutes the interface for the connecting cables between
the robot, the controller and the energy supply system.
Electrical installa-
tions
The electrical installations include all the motor and control cables for the mo-
tors of axes 1 to 6. All connections are pluggable. The electrical installations
also include the RDC box, which is integrated into the robot. The connectors
Fig. 3-2: Principal components
1 In-line wrist 4 Rotating column
2 Arm 5 Electrical installations
3 Link arm 6 Base frame
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