KR 10 scara R600, R850 WP - KUKA Robotics

KR 10 scara R600, R850 WPFig. 1-2: Principal components1 Arm 4 Base frame2 Spindle 5 Electrical installations3 Link armArmLink armBase frameThe arm incorporates axes 2, 3 and 4. Axes 2 and 4 are rotational axes,whereas axis 3 is a translational axis. All motors for these axes are containedin the arm. Axis 2 is driven directly via a spur gear stage, while axes 3 and 4are driven via an upstream toothed belt stage. The motors of these two axesare each equipped with a brake.The mounting flange can be attached to the interface of axis 4.Depending on the travel of the translational axis 3, the robot type is specifiedas Z300 or Z400. Z300 stands for a travel of 300 mm, and Z400 for a travel of400 mm.There are 2 variants of arm available. The arm accommodates the 24-contactcircular connector of the wrist I/O cable.The link arm is a hollow structural element which is mounted on the baseframe and screwed to the drive elements of the arm. The supply lines and signalcables for the drives of axes 2 and 4, and the lines of the energy supplysystem (wrist I/O cable and compressed air lines) are routed through the linkarm.The base frame is the base of the robot. Axis 1 is driven directly via a spur gearstage. It houses the motor for axis 1. It constitutes the interface for the connectingcables between the robot, the robot controller and the energy supplysystem. All connecting cables are accommodated at the rear of the baseframe. The base frame houses the backup batteries for backing up the axisdata of the position sensing system.6 / 57 Issued: 26.03.2010 Version: Spez KR 10 scara WP V5 en