Kuka IONTEC KR 20 R3100 - Axis Data, KR 70 R2100 F

4.8.2 Axis data, KR 70 R2100 F
Axis data
Motion range
A1 ±185 °
A2 -175 ° / 60 °
A3 -120 ° / 165 °
A4 ±180 °
A5 ±125 °
A6 ±350 °
Speed with rated payload
A1 180 °/s
A2 158 °/s
A3 160 °/s
A4 230 °/s
A5 230 °/s
A6 320 °/s
Direction of rotation of robot axes
The following diagram shows the direction of motion and the arrangement
of the individual axes for the listed variants of this product family.
Fig. 4-67: Direction of rotation of the axes
Mastering positions
Mastering position
A1 -9 °
A2 -90 °
A3 90 °
A4 0 °
A5 50 °
A6 -30 °
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 115/344
Technical data