29 / 127Issued: 18.06.2015 Version: Spez KR QUANTEC extra V6
4 Technical data
Payloads, KR 90
R3100 extra
Load center of
gravity P
For all payloads, the load center of gravity refers to the distance from the face
of the mounting flange on axis 6. Refer to the payload diagram for the nominal
distance.
Payload diagram
Supplementary load, link arm On request
Supplementary load, rotating column On request
Supplementary load, base frame On request
Robot KR 90 R3100
extra
In-line wrist IW 90/120
Rated payload 90 kg
Distance of the load center of gravity L
z
(horizontal) 240 mm
Distance of the load center of gravity L
xy
(vertical) 270 mm
Permissible mass moment of inertia 45 kgm
2
Max. total load 140 kg
Supplementary load, arm 50 kg
Supplementary load, link arm On request
Supplementary load, rotating column On request
Supplementary load, base frame On request
This loading curve corresponds to the maximum load ca-
pacity. Both values (payload and mass moment of iner-
tia) must be checked in all cases. Exceeding this capacity will reduce the
service life of the robot and overload the motors and the gears; in any such
case the KUKA Roboter GmbH must be consulted beforehand.
The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accor-
dance with the operating and programming instructions of the KUKA System
Software.
The mass inertia must be verified using KUKA.Load. It is imperative for the
load data to be entered in the robot controller!
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