Kuka IONTEC KR 20 R3100 User Manual

4 Cover
9.5.3.3 Removing motor A4
Procedure
1. Unscrew 2 M6x12-8.8-A2K Allen screws each from both holders.
Mark the position of cable strap on the cable. Cut off the cable strap
at the first holder.
2. Remove holder from the robot arm.
Carefully cut off cable strap on plug-in connection A6 (far right) with
diagonal cutting pliers.
Remove plug-in connection A6 from the holder and disconnect it.
3. Unscrew 18 M6x35-8.8-A2K Allen screws between the in-line wrist
with arm extension and the arm.
Carefully pull the in-line wrist with arm extension a little way out.
4. Remove grounding from in-line wrist with arm extension. Release and
unplug connectors XM4/XP4 and XM5/XP5 at the right-angle connec-
tors.
5. Remove the in-line wrist with arm extension and set it down on a pre-
pared support.
6. Unscrew 4 M5x14-8.8 Allen screws from motor A4 and pull out the
motor. Do not tilt while removing.
Fig. 9-35: KR 20 R3100 – Removing/installing motors A4 and A5
1 M5x14-8.8-A2K Allen screw (4x per motor)
2 Motor A4
3 Motor A5
4 Sinuous spring 0.25x11.43x15.88 (2x)
5 Connecting shaft R3100 (2x)
6 Arm extension
7 M6x35-8.8-A2K Allen screw with conical spring washer (18x)
KR IONTEC
276/344 | 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