Kuka IONTEC KR 20 R3100 User Manual

Connecting cables
Cable designation
Connector designation
robot controller -
robot
Interface with
robot
Motor cable X20 - X30 Harting HAN 24/
HAN 16 HP
Control cable X21 - X31 Harting HAN 3A
+HAN Q12
Ground conductor / equi-
potential bonding
(optional)
M8 ring cable
lug at both ends
Cable lengths 7 m, 10 m, 15 m, 20 m, 25 m, 30 m, 35 m,
50 m
Max. cable length 50 m
Max. number of plug
connections
1
For detailed specifications of the connecting cables, see “Description of
the connecting cables”.
4.6.2 Axis data, KR 50 R2500 F
Axis data
Motion range
A1 ±185 °
A2 -175 ° / 60 °
A3 -120 ° / 170 °
A4 ±180 °
A5 ±125 °
A6 ±350 °
Speed with rated payload
A1 175 °/s
A2 158 °/s
A3 175 °/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.
KR IONTEC
88/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
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