Kuka IONTEC KR 20 R3100 User Manual

G
Gear unit A1, draining oil.................... 198, 199
Gear unit A1, filling with oil................. 199, 200
Gear unit A2, draining oil.................... 201, 202
Gear unit A2, filling with oil................. 202, 203
Gear unit A3, draining oil.............................205
Gear unit A3, filling with oil................. 205, 206
Gear unit A4, draining oil............208, 218, 219
Gear unit A4, filling with oil 208, 209, 219, 220
Gear unit A5, draining oil.................... 211, 222
Gear unit A5, filling with oil........ 212, 213, 223
Gear unit A6, draining oil............215, 225, 226
Gear unit A6, filling with oil 215, 216, 226, 227
General information......................................128
General safety measures............................... 25
H
HA................................................................... 11
Handling equipment.....................168, 172, 179
Hazardous substances................................... 31
HM...................................................................11
HO...................................................................11
HP................................................................... 11
HW.................................................................. 11
I
In-line wrist/arm.............................................. 16
Industrial robot................................................19
Information for planning............................... 159
Interface A1.................................................. 164
Interface, connecting cables........................ 183
Interface, energy supply system.................. 164
Interfaces...................................................... 163
Introduction....................................................... 9
K
K......................................................................11
KCP.................................................... 11, 21, 26
Keyboard, external......................................... 26
KR................................................................... 11
KR C............................................................... 11
KS................................................................... 11
KUKA Customer Support............................. 339
KUKA Service...............................................339
KUKA smartPAD................................11, 15, 21
KUKA smartPAD-2................................... 11, 21
L
Labeling.......................................................... 25
Lifting tackle......................................... 168, 169
Linear unit.......................................................19
Link arm................................................... 16, 17
Location, arrow adhesive labels.................. 322
Low Voltage Directive.....................................20
M
Machine frame mounting..............................161
Machine frame mounting with centering..... 161
Machine frame mounting, installing............. 180
Machinery Directive................................20, 337
Main axes..................................................... 128
Maintenance........................................... 30, 189
Maintenance symbols.......................... 190, 192
Maintenance table, KR IONTEC KR 20
R3100........................................................... 190
Maintenance table, KR IONTEC standard and
Foundry variants...........................................192
Manipulator............................11, 15, 16, 19, 21
Manual mode..................................................29
Mass..................... 40, 52, 65, 78, 92, 105, 118
Mass moments of inertia....40, 53, 66, 79, 93,
106, 119
Material designation..................................... 316
Mechanical end stops.................................... 24
MEMD............................................................. 11
micro RDC...................................................... 11
Microlube GL 261.........................................336
Misuse.............................................................18
Motion velocity................................................ 11
Motor A1, exchanging..........................229, 246
Motor A1, installing.............................. 231, 249
Motor A1, removing............................. 230, 248
Motor A2, exchanging..........................233, 251
Motor A2, installing.............................. 236, 254
Motor A2, removing............................. 235, 253
Motor A3, exchanging.................................. 238
Motor A3, installing.......................................243
Motor A3, removing......................................242
Motor A4, exchanging.................................. 256
Motor A4, installing......................261, 281, 292
Motor A4, removing.....................260, 276, 289
Motor A5, exchanging.................................. 264
Motor A5, installing......................269, 280, 291
Motor A5, removing.....................268, 277, 290
Motor A6 and in-line wrist, exchanging.......272
Motor A6 and in-line wrist, installing........... 279
Motor A6 and in-line wrist, removing.......... 278
Mounting base with centering............. 159, 171
Mounting flange.............................................. 16
Mounting flange D=100............ 54, 67, 80, 107
Mounting flange D=50....................................41
Mouse, external..............................................26
MT................................................................... 11
N
New in-line wrist, preparing......................... 278
O
Oil change, A1..............................................197
Oil change, A2..............................................200
Oil change, A3..............................................203
Oil change, A4..................................... 206, 217
KR IONTEC
342/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Index

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