Kuka IONTEC KR 20 R3100, Assembly Instructions Manual

Page: 62 / 344

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.
Fig. 4-23: Direction of rotation of the axes
Mastering positions
Mastering position
A1 -9 °
A2 -90 °
A3 90 °
A4 0 °
A5 50 °
A6 -30 °
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.
KR IONTEC
62/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Technical
data