Kuka IONTEC KR 20 R3100 User Manual

9.4.1.2 Installing motor A1................................................................................................ 249
9.4.1.3 Concluding work.................................................................................................... 250
9.4.2 Exchanging motor A2............................................................................................ 251
9.4.2.1 Securing the link arm............................................................................................ 252
9.4.2.2 Removing motor A2.............................................................................................. 253
9.4.2.3 Installing motor A2................................................................................................ 254
9.4.2.4 Removing the equipment securing the link arm.................................................. 255
9.4.2.5 Concluding work.................................................................................................... 256
9.5 KR 20 R3100......................................................................................................... 256
9.5.1 Exchanging motor A4............................................................................................ 256
9.5.1.1 Securing the in-line wrist and robot arm.............................................................. 258
9.5.1.2 Removing cover A3............................................................................................... 259
9.5.1.3 Removing motor A4.............................................................................................. 260
9.5.1.4 Installing motor A4................................................................................................ 261
9.5.1.5 Mounting the cover................................................................................................ 262
9.5.1.6 Removing the equipment securing the in-line wrist and robot arm..................... 263
9.5.1.7 Concluding work.................................................................................................... 264
9.5.2 Exchanging motor A5............................................................................................ 264
9.5.2.1 Securing the in-line wrist and robot arm.............................................................. 266
9.5.2.2 Removing cover A3............................................................................................... 267
9.5.2.3 Removing motor A5.............................................................................................. 268
9.5.2.4 Installing motor A5................................................................................................ 269
9.5.2.5 Mounting the cover................................................................................................ 270
9.5.2.6 Removing the equipment securing the in-line wrist and robot arm..................... 271
9.5.2.7 Concluding work.................................................................................................... 272
9.5.3 Exchanging motor A6 and in-line wrist................................................................. 272
9.5.3.1 Securing the in-line wrist and robot arm.............................................................. 274
9.5.3.2 Removing cover A3............................................................................................... 275
9.5.3.3 Removing motor A4.............................................................................................. 276
9.5.3.4 Removing motor A5.............................................................................................. 277
9.5.3.5 Removing motor A6 and in-line wrist................................................................... 278
9.5.3.6 Preparing the new in-line wrist............................................................................. 278
9.5.3.7 Installing motor A6 and in-line wrist..................................................................... 279
9.5.3.8 Installing motor A5................................................................................................ 280
9.5.3.9 Installing motor A4................................................................................................ 281
9.5.3.10 Mounting the cover................................................................................................ 283
9.5.3.11 Removing the equipment securing the in-line wrist and robot arm..................... 284
9.5.3.12 Concluding work.................................................................................................... 285
9.5.4 Exchanging the connecting shafts........................................................................ 285
9.5.4.1 Securing the in-line wrist and robot arm.............................................................. 287
9.5.4.2 Removing cover A3............................................................................................... 288
9.5.4.3 Removing motor A4.............................................................................................. 289
9.5.4.4 Removing motor A5.............................................................................................. 290
9.5.4.5 Installing motor A5................................................................................................ 291
9.5.4.6 Installing motor A4................................................................................................ 292
9.5.4.7 Mounting the cover................................................................................................ 294
9.5.4.8 Removing the equipment securing the in-line wrist and robot arm..................... 295
9.5.4.9 Concluding work.................................................................................................... 296
9.6 Description of the electrical installations.............................................................. 296
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 7/344

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