Kuka IONTEC KR 20 R3100 User Manual

Inclined installation
The robot can be installed in any position from 0° (floor) to 180° (ceiling).
The following figure shows the possible limitation of the motion range of
axis 1, as a function of the angle of inclination of the robot.
The inclination angles for the robot must be entered correctly into the con-
troller if the robot is not operated in the floor-mounted position. Configura-
tion of the angles is possible via WorkVisual.
The inclination angles for an unchanged main working direction of the ro-
bot:
Floor: A:0°, B:0°, C:0°
Wall: A:0°, B:90°, C:0°
Ceiling: A:0°, B:0°, C:180°
CAUTION
The inclined installation angles must be individually checked and en-
tered. An incorrectly entered inclined installation angle can lead to un-
foreseen motion and/or to an overload and, potentially, damage to the
robot.
Fig. 4-70: Motion range of A1 with inclined installation, KR 70 R2100
F
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 117/344
Technical data

Kuka IONTEC KR 20 R3100 Specifications

General

Payload	20 kg
Reach	3100 mm
Repeatability	±0.06 mm
Number of Axes	6
Controller	KR C4
Protection Rating	IP65
Mounting Position	Floor, ceiling, wall