Kuka IONTEC KR 20 R3100 User Manual

Fig. 4-10: KR 20 R3100 and KR 50 R2500, fastening of supplementary
load, rotating column and link arm
4.2.4 Foundation loads, KR 20 R3100
Foundation loads
The specified forces and moments already include the payload and the in-
ertia force (weight) of the robot.
Foundation loads for floor mounting position
F(v normal) 7607 N
F(v max) 10107 N
F(h normal) 4605 N
F(h max) 8475 N
M(k normal) 8986 Nm
M(k max) 18031 Nm
M(r normal) 4995 Nm
M(r max) 9575 Nm
Foundation loads for ceiling mounting position
F(v normal) 7682 N
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 45/344
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