Kuka IONTEC KR 20 R3100 User Manual

Fig. 4-32: KR IONTEC, fastening of supplementary load on rotating
column and link arm, R2100
4.4.4 Foundation loads, KR 50 R2100
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) 8203 N
F(v max) 11259 N
F(h normal) 4523 N
F(h max) 9133 N
M(k normal) 8952 Nm
M(k max) 17517 Nm
M(r normal) 5141 Nm
M(r max) 9806 Nm
Foundation loads for ceiling mounting position
F(v normal) 8204 N
F(v max) 11349 N
F(h normal) 4092 N
F(h max) 9242 N
M(k normal) 9703 Nm
M(k max) 18711 Nm
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 71/344
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