Kuka IONTEC KR 20 R3100 User Manual

5. Clean the lower mounting surface on the robot (>>> 7.3.2 "Installing
the machine frame mounting assembly" Page 180).
6. Lower the robot vertically onto the mounting surface. Ensure that an
entirely vertical position is maintained in order to prevent damage to
the locating pins.
7. Insert 8 M20x60-8.8 Allen screws with conical spring washers.
8. Tighten 8 M20x60-8.8 Allen screws with a torque wrench in diagonally
opposite sequence. Increase the tightening torque to the specified val-
ue in several stages.
Fig. 7-7: Machine frame mounting, dimensioned drawing
1 Locating pin, cylindrical
2 M20x60-8.8-A2K hexagon screw with lock washer (8x)
3 Locating pin, flat-sided
7.3.3 Removing KR IONTEC fork slots
Procedure
1. Remove the M16x35-8.8 Allen screws and lock washers.
2. Remove the Load Lifting Attachment.
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 181/344
Start-up and recommissioning

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