Kuka IONTEC KR 20 R3100 User Manual

Fig. 9-15: Securing the link arm
9.4.2.2 Removing motor A2
Procedure
1. Release and unplug connectors XM2 and XP2 at the right-angle con-
nectors (>>> 9.2.2 "Removing motor A2" Page 235).
2. Unscrew 4 M10x25-8.8-A2K Allen screws.
3. Release and carefully lift out motor A2, taking care not to tilt it.
4. Remove the seal and dispose of it.
5. Cover the aperture on gear unit input shaft A2 and protect it against
fouling.
6. If the motor is not to be reinstalled, it must be disposed of properly or
protected against corrosion before being put into storage.
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 253/344
Repair

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