Kuka IONTEC KR 20 R3100 User Manual

4.2.2 Axis data, KR 20 R3100
Axis data
Motion range
A1 ±185 °
A2 -175 ° / 60 °
A3 -120 ° / 170 °
A4 ±350 °
A5 ±130 °
A6 ±350 °
Speed with rated payload
A1 180 °/s
A2 165 °/s
A3 160 °/s
A4 360 °/s
A5 360 °/s
A6 630 °/s
Direction of rotation of robot axes
The following diagram shows the direction of motion and the arrangement
of the individual axes for the listed variants of this product family.
Fig. 4-1: Direction of rotation of the axes
Mastering positions
Mastering position
A1 -9 °
A2 -90 °
A3 90 °
A4 0 °
A5 0 °
A6 0 °
KR IONTEC
36/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Technical data

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