Kuka KR 20-3 - Page 15

15 / 81Issued: 22.04.2016 Version: Spez KR 20-3 V2
4 Technical data
Mastering
positions
Working
envelope
The following diagrams show the shape and size of the working envelope for
these variants of this product family.
The reference point for the working envelope is the intersection of axes 4 and
5.
Fig. 4-1: Direction of rotation of robot axes
Mastering position
A1 0 °
A2 -90 °
A3 90 °
A4 0 °
A5 0 °
A6 0 °