Kuka IONTEC KR 20 R3100 User Manual

A3 -120 ° / 165 °
A4 ±180 °
A5 ±125 °
A6 ±350 °
Speed with rated payload
A1 180 °/s
A2 165 °/s
A3 180 °/s
A4 250 °/s
A5 250 °/s
A6 360 °/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. 4-12: Direction of rotation of the axes
Mastering positions
Mastering position
A1 -9 °
A2 -90 °
A3 90 °
A4 0 °
A5 50 °
A6 -30 °
Working envelope
The following diagrams show the shape and size of the working envelope
for these variants of this product family.
The reference point for the working envelope is the intersection of axes 4
and 5.
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 49/344
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