Kuka IONTEC KR 20 R3100 User Manual

4.11.6.3 Stopping distances and stopping times, STOP 1, A2.......................................... 156
4.11.6.4 Stopping distances and stopping times, STOP 1, A3.......................................... 158
5 Planning.................................................................................................... 159
5.1 Information for planning........................................................................................ 159
5.2 Mounting base with centering............................................................................... 159
5.3 Machine frame mounting....................................................................................... 161
5.4 Connecting cables and interfaces......................................................................... 163
6 Transportation.......................................................................................... 167
6.1 Transporting the robot........................................................................................... 167
7 Start-up and recommissioning............................................................... 171
7.1 Overview of start-up and recommissioning.......................................................... 171
7.2 Starting up robots (mounting base)...................................................................... 171
7.2.1 Installing KR IONTEC fork slots........................................................................... 173
7.2.2 Installing the robot with a mounting base............................................................ 173
7.2.3 Removing KR IONTEC fork slots......................................................................... 176
7.2.4 Connecting the connecting cables........................................................................ 177
7.2.5 Concluding work.................................................................................................... 177
7.3 Starting up robots (machine frame mounting)...................................................... 178
7.3.1 Installing KR IONTEC fork slots........................................................................... 180
7.3.2 Installing the machine frame mounting assembly................................................ 180
7.3.3 Removing KR IONTEC fork slots......................................................................... 181
7.3.4 Connecting the connecting cables........................................................................ 182
7.3.5 Concluding work.................................................................................................... 183
7.4 Description of the connecting cables.................................................................... 183
7.5 Description of overtravel protection on axis 4...................................................... 187
8 Maintenance.............................................................................................. 189
8.1 Maintenance overview........................................................................................... 189
8.1.1 Maintenance table, KR IONTEC KR 20 R3100................................................... 190
8.1.2 Maintenance table, KR IONTEC standard and Foundry variants........................ 192
8.2 Greasing cable set A1.......................................................................................... 195
8.2.1 Checking and greasing cable set A1................................................................... 196
8.2.2 Concluding work.................................................................................................... 197
8.3 Oil change in A1................................................................................................... 197
8.3.1 Draining the gear oil from A1............................................................................... 198
8.3.2 Filling gear unit A1 with gear oil........................................................................... 199
8.3.3 Concluding work.................................................................................................... 200
8.4 Oil change in A2................................................................................................... 200
8.4.1 Draining the gear oil from A2............................................................................... 201
8.4.2 Filling gear unit A2 with gear oil........................................................................... 202
8.4.3 Concluding work.................................................................................................... 203
8.5 Oil change in A3................................................................................................... 203
8.5.1 Draining the gear oil from A3............................................................................... 205
8.5.2 Filling gear unit A3 with gear oil........................................................................... 205
8.5.3 Concluding work.................................................................................................... 206
8.6 Oil change in A4................................................................................................... 206
8.6.1 Draining the gear oil from A4............................................................................... 208
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 5/344

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