Kuka IONTEC KR 20 R3100, Assembly Instructions Manual

Page: 66 / 344

Parameter/unit Description
A , B , C Degrees Orientation of the principal inertia axes
• A: Rotation about the Z axis of the refer-
ence system
The result is a coordinate system named
CS'.
• B: Rotation about the Y axis of CS'
Result: CS''
• C: Rotation about the X axis of CS''
Note: A, B and C are not shown in the dia-
gram.
Mass moments of inertia:
I
x
kgm
2
Inertia about the X axis of the main axis sys-
tem
I
y
kgm
2 Inertia about the Y axis of the main axis sys-
tem
I
z
kgm
2 Inertia about the Z axis of the main axis sys-
tem
L
x
, L
y
, L
z
and A, B, C unambiguously define the main axis system:
• The origin of the main axis system is the center of mass.
• A characteristic feature of the main axis system is that, among other
things, the maximum possible inertia occurs about one of the 3 coordi-
nate axes.
More information is contained in the KUKA.Load documentation.
Payload diagram
NOTICE
This loading curve corresponds to the maximum load capacity. Both val-
ues (payload and mass moment of inertia) must be checked in all ca-
ses. Exceeding this capacity will reduce the service life of the robot and
overload the motors and the gears; in any such case KUKA Deutsch-
land GmbH must be consulted beforehand.
The values determined here are necessary for planning the robot appli-
cation. For commissioning the robot, additional input data are required
in accordance with the operating and programming instructions of the
KUKA System Software.
The mass inertia must be verified using KUKA.Load or KUKA Compose.
It is imperative for the load data to be entered in the robot controller!
KR IONTEC
66/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Technical
data