Kuka IONTEC KR 20 R3100, Assembly Instructions Manual

Page: 187 / 344

4 2x plain washer 9 Ground conductor connection,
M8 ring cable lug
5 Hexagon nut 10 Ground sign
7.5 Description of overtravel protection on axis 4
The overtravel protection applies to the following robot variants of the KR
IONTEC product family.
• KR 30 R2100
• KR 50 R2100
• KR 50 R2500
• KR 50 R2500 F
• KR 70 R2100
• KR 70 R2100 F
On axis A4 there is an orientation indicator consisting of the indicator an-
gle and the indicator pin.
If the mastering is lost, it is necessary to determine which side of the an-
gle the pin is on before addressing the premastering notch. The counter-
clockwise direction of rotation corresponds to minus and the clockwise di-
rection to plus.
Fig. 7-15: Overtravel protection A4
1 Position = 0°
2 Position = -175°
3 Position = +175°
If the pin is located on the left in the minus range, the premastering notch
must be addressed in the plus direction.
The premastering notch is addressed in the minus direction if the pin is
located on the right in the plus range.
KR IONTEC
MA KR IONTEC V4 | Issued: 11.05.2021 www.kuka.com | 187/344
Start-up
and
recommissioning