Kuka IONTEC KR 20 R3100 User Manual

8.7.2 Filling gear unit A5 with gear oil
Procedure
1. Move the robot to the specified axis position. The positions of axes A2
and A3 must produce 0° and axis A4 must be at -77° so that the oil
level can be checked (>>> "Axis position for checking the fill level on
A4" Page 209).
2. Clean both M10x1.0 magnetic screw plugs and check the sealing ele-
ment; exchange magnetic screw plugs if damaged (>>> 8.7.2 "Filling
gear unit A5 with gear oil" Page 212).
3. Connect the oil pump to the oil filler hole.
4. Fill the amount of oil up to the lower edge of the inspection hole =
vent hole, and insert and tighten the M10x1.0 magnetic screw plug;
M
A
= 7.5 Nm.
5. Remove the oil pump, and insert and tighten the M10x1.0 magnetic
screw plug; M
A
= 7.5 Nm.
Axis position for checking the fill level on A5
Model Fill level Axis position
KR 30/50/70 R2100
KR 50 R2500
KR 50 R2500 F
KR 70 R2100 F
A5 A2 + A3 = 0 °
A4 = -77°
KR IONTEC
212/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Maintenance

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