Kuka IONTEC KR 20 R3100 User Manual

8.6.2 Filling gear unit A4 with gear oil........................................................................... 208
8.6.3 Concluding work.................................................................................................... 209
8.7 Oil change in A5................................................................................................... 210
8.7.1 Draining the gear oil from A5............................................................................... 211
8.7.2 Filling gear unit A5 with gear oil........................................................................... 212
8.7.3 Concluding work.................................................................................................... 213
8.8 Oil change in A6................................................................................................... 213
8.8.1 Draining the gear oil from A6............................................................................... 215
8.8.2 Filling gear unit A6 with gear oil........................................................................... 215
8.8.3 Concluding work.................................................................................................... 217
8.9 KR 20 R3100......................................................................................................... 217
8.9.1 Oil change in A4 .................................................................................................. 217
8.9.1.1 Draining the gear oil from A4............................................................................... 218
8.9.1.2 Filling gear unit A4 with gear oil........................................................................... 219
8.9.1.3 Concluding work.................................................................................................... 220
8.9.2 Oil change in A5................................................................................................... 220
8.9.2.1 Draining the gear oil from A5............................................................................... 222
8.9.2.2 Filling gear unit A5 with gear oil........................................................................... 223
8.9.2.3 Concluding work.................................................................................................... 223
8.9.3 Oil change in A6................................................................................................... 223
8.9.3.1 Draining the gear oil from A6............................................................................... 225
8.9.3.2 Filling gear unit A6 with gear oil........................................................................... 226
8.9.3.3 Concluding work.................................................................................................... 227
8.10 Cleaning the robot................................................................................................. 227
8.10.1 Cleaning................................................................................................................. 228
8.10.2 Concluding work.................................................................................................... 228
9 Repair........................................................................................................ 229
9.1 Exchanging motor A1............................................................................................ 229
9.1.1 Removing motor A1.............................................................................................. 230
9.1.2 Installing motor A1................................................................................................ 231
9.1.3 Concluding work.................................................................................................... 232
9.2 Exchanging motor A2............................................................................................ 233
9.2.1 Securing the link arm............................................................................................ 235
9.2.2 Removing motor A2.............................................................................................. 235
9.2.3 Installing motor A2................................................................................................ 236
9.2.4 Removing the equipment securing the link arm.................................................. 237
9.2.5 Concluding work.................................................................................................... 238
9.3 Exchanging motor A3............................................................................................ 238
9.3.1 Securing the in-line wrist and robot arm.............................................................. 240
9.3.2 Removing cover A3............................................................................................... 241
9.3.3 Removing motor A3.............................................................................................. 242
9.3.4 Installing motor A3................................................................................................ 243
9.3.5 Mounting the cover................................................................................................ 244
9.3.6 Removing the equipment securing the in-line wrist and robot arm..................... 245
9.3.7 Concluding work.................................................................................................... 246
9.4 KR IONTEC Foundry............................................................................................ 246
9.4.1 Exchanging motor A1............................................................................................ 246
9.4.1.1 Removing motor A1.............................................................................................. 248
KR IONTEC
6/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021

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