Kuka IONTEC KR 20 R3100 User Manual

Fig. 9-18: Securing the link arm
9.4.2.5 Concluding work
The following concluding work must be carried out:
• Move A2 of the robot and look out for irregularities.
• Carry out mastering of A2.
Detailed information about mastering is contained in the operating
and programming instructions for end users or system integrators.
9.5 KR 20 R3100
9.5.1 Exchanging motor A4
Description
The following instructions describe the exchange of the motor. This de-
scription applies to floor-mounted robots. If the robot is installed in an in-
clined or suspended position, the procedure is to be applied analogously.
During removal of the motor, the robot can independently move about this
axis. Mechanical auxiliary equipment (e.g. support, crane) or a stable end
position (e.g. buffer) can be used to secure against motions.
Equipment
The following equipment is required:
KR IONTEC
256/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
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