Kuka IONTEC KR 20 R3100 User Manual

Fig. 4-76: KR IONTEC, fastening of supplementary load on rotating
column and link arm, R2100
4.8.4 Foundation loads, KR 70 R2100 F
Foundation loads
The specified forces and moments already include the payload and the in-
ertia force (weight) of the robot.
Foundation loads for floor mounting position
F(v normal) 8203 N
F(v max) 11259 N
F(h normal) 4523 N
F(h max) 9133 N
M(k normal) 8952 Nm
M(k max) 17517 Nm
M(r normal) 5141 Nm
M(r max) 9806 Nm
Foundation loads for ceiling mounting position
F(v normal) 8204 N
F(v max) 11349 N
F(h normal) 4092 N
F(h max) 9242 N
M(k normal) 9703 Nm
M(k max) 18711 Nm
KR IONTEC
124/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
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