clearly lock into the coding elements (twist-proof). Reconnect ground-
ing to in-line wrist with arm extension.
Fig. 9-30: KR 20 R3100 – Removing/installing motors A4 and A5
1 M5x14-8.8-A2K Allen screw (4x per motor)
2 Motor A4
3 Motor A5
4 Sinuous spring 0.25x11.43x15.88 (2x)
5 Connecting shaft R3100 (2x)
6 Arm extension
7 M6x35-8.8-A2K Allen screw with conical spring washer (18x)
9. Clean the surface between the in-line wrist with arm extension and the
arm and apply a thin but continuous coat of Drei Bond 5204 HV adhe-
sive.
10. Attach the in-line wrist with arm extension to the arm using 18 Allen
screws and tighten the screws with a torque wrench in diagonally op-
posite sequence. Increase the tightening torque to the specified value
in several stages.
11. Fasten the motor cable to the first holder at the marked position with a
cable strap.
12. Plug the plug connection A6 back together and fasten the holder (far
right position) using a cable strap.
13. Fasten both holders with 2 M6x12-8.8-A2K Allen screws each.
9.5.2.5 Mounting the cover
Procedure
1. Place the cover on the robot arm and fasten in place using 14
M6x16-8.8-A2K Allen screws. Tighten the screws in diagonally oppo-
site sequence.
KR IONTEC
270/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Repair
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