Kuka IONTEC KR 20 R3100 User Manual

Contents
1 Introduction.............................................................................................. 9
1.1 Target group.......................................................................................................... 9
1.2 Industrial robot documentation.............................................................................. 9
1.3 Representation of warnings and notes................................................................. 9
1.4 Terms used............................................................................................................ 10
2 Product description................................................................................. 15
2.1 Description of the robot system............................................................................ 15
2.2 Description of the manipulator.............................................................................. 16
2.3 Intended use and misuse...................................................................................... 17
3 Safety......................................................................................................... 19
3.1 General.................................................................................................................. 19
3.1.1 Disclaimer.............................................................................................................. 19
3.1.2 EC declaration of conformity and declaration of incorporation............................ 20
3.1.3 Terms in the “Safety” chapter............................................................................... 20
3.2 Personnel............................................................................................................... 22
3.3 Workspace, safety zone and danger zone........................................................... 23
3.4 Overview of protective equipment........................................................................ 23
3.4.1 Mechanical end stops........................................................................................... 24
3.4.2 Mechanical axis limitation (optional)..................................................................... 24
3.4.3 Options for moving the manipulator without drive energy................................... 24
3.4.4 Labeling on the industrial robot............................................................................ 25
3.5 Safety measures.................................................................................................... 25
3.5.1 General safety measures...................................................................................... 25
3.5.2 Transportation........................................................................................................ 27
3.5.3 Start-up and recommissioning.............................................................................. 27
3.5.4 Manual mode......................................................................................................... 29
3.5.5 Automatic mode..................................................................................................... 30
3.5.6 Maintenance and repair........................................................................................ 30
3.5.7 Decommissioning, storage and disposal.............................................................. 32
4 Technical data.......................................................................................... 33
4.1 Technical data, overview....................................................................................... 33
4.2 Technical data, KR 20 R3100............................................................................... 34
4.2.1 Basic data, KR 20 R3100..................................................................................... 34
4.2.2 Axis data, KR 20 R3100....................................................................................... 36
4.2.3 Payloads, KR 20 R3100....................................................................................... 39
4.2.4 Foundation loads, KR 20 R3100.......................................................................... 45
4.3 Technical data, KR 30 R2100............................................................................... 47
4.3.1 Basic data, KR 30 R2100..................................................................................... 47
4.3.2 Axis data, KR 30 R2100....................................................................................... 48
4.3.3 Payloads, KR 30 R2100....................................................................................... 51
4.3.4 Foundation loads, KR 30 R2100.......................................................................... 58
4.4 Technical data, KR 50 R2100............................................................................... 60
4.4.1 Basic data, KR 50 R2100..................................................................................... 60
4.4.2 Axis data, KR 50 R2100....................................................................................... 61
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 3/344

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