Robots

KR QUANTEC-2
With F and C Variants
Specification

Issued: 18.03.2025
Spez KR QUANTEC-2 V12
KUKA Deutschland GmbH
KR QUANTEC-2

© Copyright 2025
KUKA Deutschland GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties
without the express permission of KUKA Deutschland GmbH.
Other functions not described in this documentation may be operable in the controller. The user
has no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and soft-
ware described. Nevertheless, discrepancies cannot be precluded, for which reason we are not
able to guarantee total conformity. The information in this documentation is checked on a regu-
lar basis, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation

Publication: Pub Spez KR QUANTEC-2 (PDF) en

PB12794

Book structure: Spez KR QUANTEC-2 V10.1

BS11863

Version: Spez KR QUANTEC-2 V12

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Contents

1 Introduction.............................................................................................. 7
1.1 Target group.......................................................................................................... 7
1.2 Industrial robot documentation.............................................................................. 7
1.3 Representation of warnings and notes................................................................. 7
1.4 Terms used............................................................................................................ 8

2 Product description................................................................................. 13
2.1 Overview of the robot system............................................................................... 13
2.2 Description of the manipulator.............................................................................. 14
2.3 Intended use and misuse...................................................................................... 17

3 Safety......................................................................................................... 19
3.1 General.................................................................................................................. 19
3.1.1 Disclaimer.............................................................................................................. 19
3.1.2 EC declaration of conformity and declaration of incorporation............................ 20
3.1.3 Terms in the “Safety” section................................................................................ 20
3.2 Personnel............................................................................................................... 22
3.3 Workspace, safety zone and danger zone........................................................... 23
3.4 Overview of protective equipment........................................................................ 23
3.4.1 Mechanical end stops........................................................................................... 23
3.4.2 Mechanical axis limitation (optional)..................................................................... 24
3.4.3 Options for moving the manipulator without drive energy................................... 24
3.4.4 Labeling on the industrial robot............................................................................ 25
3.5 Safety measures.................................................................................................... 25
3.5.1 General safety measures...................................................................................... 25
3.5.2 Transportation........................................................................................................ 27
3.5.3 Start-up and recommissioning.............................................................................. 27
3.5.4 Manual mode......................................................................................................... 29
3.5.5 Automatic mode..................................................................................................... 30
3.5.6 Maintenance and repair........................................................................................ 31
3.5.7 Decommissioning, storage and disposal.............................................................. 33

4 Technical data.......................................................................................... 35
4.1 Basic data overview.............................................................................................. 36
4.2 Axis data overview................................................................................................ 42
4.3 Payloads overview................................................................................................. 73
4.4 Foundation loads overview................................................................................... 150
4.5 Plates and labels................................................................................................... 158
4.6 REACH duty to communicate information acc. to Art. 33................................... 162
4.7 Stopping distances and times............................................................................... 162
4.7.1 General information............................................................................................... 162
4.7.2 Stopping distances and times, KR 120 R2700-2, KR 120 R2700-2 C01 and
KR 120 R2700-2 F................................................................................................ 164
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 164
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 165
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 167
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 169

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4.7.3 Stopping distances and times, KR 120 R3100-2 and KR 120 R3100-2 F......... 169
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 169
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 171
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 173
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 175
4.7.4 Stopping distances and times, KR 150 R2700-2 and KR 150 R2700-2 F......... 175
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 175
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 177
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 179
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 181
4.7.5 Stopping distances and times, KR 150 R3100-2 and KR 150 R3100-2 F......... 181
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 181
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 183
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 185
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 187
4.7.6 Stopping distances and times, KR 180 R2900-2 and KR 180 R2900-2 F......... 187
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 187
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 189
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 191
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 193
4.7.7 Stopping distances and times, KR 210 R2700-2, KR 210 R2700-2 C01 and
KR 210 R2700-2 F................................................................................................ 193
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 193
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 195
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 197
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 199
4.7.8 Stopping distances and times, KR 210 R3100-2, KR 210 R3100-2 F and KR
210 R3100-2 C...................................................................................................... 199
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 199
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 201
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 203
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 205
4.7.9 Stopping distances and times, KR 240 R2900-2, KR 240 R2900-2 F and KR
240 R2900-2 C...................................................................................................... 205
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 205
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 207
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 209
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 211
4.7.10 Stopping distances and times, KR 250 R2700-2, KR 250 R2700-2 F and KR
250 R2700-2 C...................................................................................................... 211
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 211
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 213
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 215
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 217
4.7.11 Stopping distances and times, KR 300 R2700-2, KR 300 R2700-2 C01, KR
300 R2700-2 F und KR 300 R2700-2 C.............................................................. 217
[Link] Stopping distances and stopping times, STOP 0, A1 to A3............................... 217
[Link] Stopping distances and stopping times, STOP 1, A1.......................................... 219
[Link] Stopping distances and stopping times, STOP 1, A2.......................................... 221
[Link] Stopping distances and stopping times, STOP 1, A3.......................................... 223

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5 Planning.................................................................................................... 225
5.1 Information for planning........................................................................................ 225
5.2 Mounting base with centering............................................................................... 225
5.3 Mounting base 150 mm (optional)........................................................................ 228
5.4 Machine frame mounting....................................................................................... 231
5.5 Connecting cables and interfaces......................................................................... 233

6 Transportation.......................................................................................... 237
6.1 Transporting the robot........................................................................................... 237

7 Appendix................................................................................................... 243
7.1 Applied standards and regulations....................................................................... 243

8 KUKA Service........................................................................................... 245

8.1 Requesting support............................................................................................... 245
8.2 KUKA Customer Support...................................................................................... 245

Index 247

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Introduction
1 Introduction

1.1 Target group

This documentation is aimed at users with the following knowledge and

skills:
• Advanced knowledge of mechanical engineering
• Advanced knowledge of electrical engineering
• Knowledge of the robot controller system

For optimal use of KUKA products, we recommend the training courses

offered by KUKA College. Information about the training program can be
found at [Link] or can be obtained directly from our subsidia-
ries.

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

• Documentation for the robot arm

• Documentation for the robot controller
• Documentation for the teach pendant
• Documentation for the System Software
• Instructions for options and accessories
• Stopping distances and stopping times in the documentation for the ro-
bot arm or in KUKA Xpert
• Spare parts overview in KUKA Xpert
Each set of instructions is a separate document.

1.3 Representation of warnings and notes

Safety

These warnings are provided for safety purposes and must be observed.
DANGER
These warnings mean that it is certain or highly probable that death or
severe injuries will occur if no precautions are taken.

WARNING
These warnings mean that death or severe injuries may occur if no pre-
cautions are taken.

CAUTION
These warnings mean that minor injuries may occur if no precautions
are taken.

NOTICE
These warnings mean that damage to property may occur, if no precau-
tions are taken.

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Introduction KR QUANTEC-2

These warnings contain references to safety-relevant information or gen-

eral safety measures.
These warnings do not refer to individual hazards or individual precau-
tionary measures.

This warning draws attention to procedures which serve to prevent or rem-

edy emergencies or malfunctions:
SAFETY INSTRUCTION
The following procedure must be followed exactly!

Procedures marked with this warning must be followed exactly.

Notices

These notices serve to make your work easier or contain references to

further information.
Tip to make your work easier or reference to further information

1.4 Terms used

The overview may contain terms symbols that are not relevant for this
document.

Term Description

Axis range Range within which the axis may move

The axis range must be defined for each axis.

Stopping distance Stopping distance = reaction distance + braking distance

The stopping distance is part of the danger zone.

Workspace Area within which the robot may move.

The workspace is derived from the individual axis ranges.

Arctic Operation in the temperature range below 0 °C (273 K)

Extension Distance (l in %) between axis 1 and the intersection of axes 4 and

5. With parallelogram robots, the distance between axis 1 and the
intersection of axis 6 and the mounting flange.

C Ceiling
Ceiling mounting of the product

CR Clean Room
Designation for cleanroom variants of mobile platforms and robot
systems

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Introduction
EDS Electronic Data Storage
Memory card

EDS cool Electronic Data Storage cool

Memory card with extended temperature range

EMD Electronic Mastering Device

Technical tool for mastering the axis

SPP Spare parts package

Spare parts supply for durable capital goods

EX Explosion-proof zone

F Foundry
Operation in environments with increased protection requirements

F exclusive Foundry exclusive

Use exclusively in foundry

Danger zone The danger zone results from the workspace and stopping distance
of the manipulator including any external axes (if present).

HA High Accuracy
High-accuracy robot

HI High Inertia
High inertia

HM Hygienic Machine
For the primary and secondary foodstuffs industries

HO Hygienic Oil
Use in the secondary food sector

HP High Protection
High protection

HW Hollow Wrist

K Shelf-mounted robot

KCP KUKA Control Panel

Teach pendant for the KR C2/KR C2 edition2005

KR KUKA robot

KR C KUKA Robot Controller

Robot controller

KS Shelf-mounted, small

KUKA smartPAD see “smartPAD”

KUKA smartPAD-2 see “smartPAD”

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Manipulator The robot arm and the associated electrical installations

MEMD Micro Electronic Mastering Device

Technical tool for mastering the axis

micro RDC micro Resolver Digital Converter

MT Machine Tooling

P Press-to-press robot

PA Palletizer

Phi Angle of rotation (°) about the corresponding axis. This value can
be entered and read in the controller via the teach pendant.

POV Program override (%) = speed of the robot motion. This value can
be entered in the controller via the teach pendant, from which it
can be read.

RDC Resolver Digital Converter

Transducer that collects motor data and transforms them into digital
variables

RDC cool Resolver Digital Converter cool

Transducer with extended temperature range that collects motor da-
ta and transforms them into digital variables

SC Special Connection

SE Second Encoder

SI Safe Interaction

SL Stainless steel
Stainless steel; operation in hygienically demanding areas (wash-
down areas)

smartPAD Teach pendant for the robot controller

The smartPAD has all the operator control and display functions re-
quired for operation and programming. The following models exist:

• KUKA smartPAD
• KUKA smartPAD-2
• KUKA smartPAD pro
For robot controllers of the KR C5 series with KUKA System Soft-
ware or VW System Software, only the model KUKA smartPAD-2
is used.
For robot controllers of the KR C5 series with KUKA [Link], on-
ly the model KUKA smartPAD pro is used.
For other robot controllers, the designation “KUKA smartPAD” or
“smartPAD” always refers to all models possible for the respective
controller unless an explicit distinction is made.

Stop categories Note: Information about the stop categories for KUKA robot control-
lers can be found in the “Safety” chapter of the robot controller as-
sembly instructions.

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T1 Operating mode: Manual Reduced Speed (<= 250 mm/s) in manual
and program modes
For test operation, programming and teaching
With manual guidance in T1, the speed is not reduced, but rather
limited through a safety-oriented speed monitoring in accordance
with the safety configuration.
Note: The maximum speed of 250 mm/s does not apply to a mo-
bile platform.

T2 Operating mode - Manual High Speed (> 250 mm/s permissible)

For test operation
Speed in program mode corresponds to the programmed speed!
Manual mode not possible

W Wall
Wall-mounted robots

WP Waterproof
Splash-proof (IP65)

External axis A motion axis which is not part of the manipulator but which is con-
trolled via the robot controller (e.g. KUKA linear unit, turn-tilt table,
positioner)

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Product description
2 Product description

2.1 Overview of the robot system

A robot system (>>> Fig. 2-1) comprises all the assemblies of an industri-
al robot, including the manipulator (mechanical system and electrical in-
stallations), robot controller, connecting cables, tools and other equipment.
The KR QUANTEC-2 product family comprises the following robot types:
• KR 120 R2700-2
• KR 120 R2700-2 C01
• KR 120 R2700-2 F
• KR 120 R3100-2
• KR 120 R3100-2 F
• KR 150 R2700-2
• KR 150 R2700-2 F
• KR 150 R3100-2
• KR 150 R3100-2 F
• KR 180 R2900-2
• KR 180 R2900-2 F
• KR 210 R2700-2
• KR 210 R2700-2 C01
• KR 210 R2700-2 F
• KR 210 R3100-2
• KR 210 R3100-2 F
• KR 210 R3100-2 C
• KR 240 R2900-2
• KR 240 R2900-2 F
• KR 240 R2900-2 C
• KR 250 R2700-2
• KR 250 R2700-2 F
• KR 250 R2700-2 C
• KR 300 R2700-2
• KR 300 R2700-2 C01
• KR 300 R2700-2 F
• KR 300 R2700-2 C
An industrial robot of this product family comprises the following compo-
nents:
• Manipulator
• Robot controller
• Connecting cables
• Teach pendant (KUKA smartPAD)
• Software
• Options, accessories

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Fig. 2-1: Example of an industrial robot

1 Manipulator 3 Robot controller

2 Connecting cables 4 smartPAD

2.2 Description of the manipulator

Overview

The manipulators (= robot arm and electrical installations) of the variants

are designed as 6-axis jointed-arm kinematic systems. They consist of the
following main assemblies:
• In-line wrist
• Arm
• Link arm
• Counterbalancing system
• Rotating column
• Base frame
• Electrical installations

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Product description
Fig. 2-2: Main assemblies of the manipulator

1 In-line wrist 5 Base frame

2 Arm 6 Rotating column
3 Counterbalancing system 7 Link arm
4 Electrical installations

DANGER
Axes 1 to 3 are equipped with end stops. These serve to protect the
machine only.
The following options are available for personnel protection:
• The Safe Robot functionality of the controller
• The use of mechanical axis limitations for axes 1 to 3 (optional)

In-line wrist

The robot is fitted with a 3-axis in-line wrist. The in-line wrist contains ax-
es 4, 5 and 6. The motor of axis 6 is located directly on the wrist, inside
the arm. It drives the wrist directly, while for axes 4 and 5 the drive comes
from the rear of the arm via connecting shafts. For attaching end effectors
(tools), the in-line wrist has a mounting flange.

Arm

The arm is the link between the in-line wrist and the link arm. It houses
the motors of wrist axes 4 and 5. The arm is driven by the motor of axis
3. The maximum permissible swivel angle is mechanically limited by an
overrun safeguard for each direction, plus and minus. There is an inter-
face on the arm for fastening supplementary loads.

Link arm

The link arm is the assembly located between the arm and the rotating
column. The maximum permissible swivel angle is mechanically limited by
an overrun safeguard for each direction, plus and minus. There is an in-
terface on the link arm for fastening supplementary loads.

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Rotating column

The rotating column houses the motors of axes 1 and 2. The rotational
motion of axis 1 is performed by the rotating column. The rotating column
also supports the link arm. The bearings of the counterbalancing system
are situated at the rear. There is also an interface for fastening supple-
mentary loads on the rotating column.

Base frame

The base frame is the base of the robot. It is screwed to the mounting
base. The electrical installations are fastened in the base frame. Also lo-
cated on the base frame is the interface for the motor and data cable and
the energy supply system.

Counterbalancing system

The counterbalancing system is installed between the rotating column and

the link arm and serves to minimize the moments generated about axis 2
when the robot is in motion and at rest. A closed hydropneumatic system
is used. The system consists of two accumulators, a hydraulic cylinder
with associated hoses, a pressure gauge and a bursting disc as a safety
element to protect against overfilling. The counterbalancing system is clas-
sified below category I, fluid group 2, of the Pressure Equipment Directive.

Electrical installations

The electrical installations include all the motor and data cables for the
motors of axes 1 to 6. All connections are implemented as plug-in connec-
tors in order to enable the motors to be exchanged quickly and reliably.
The electrical installations also include the RDC box, which is mounted on
the rotating column. The interface on the base frame of the robot for con-
necting the connecting cables has plug-and-socket connections. The con-
necting cables from the robot controller can be plugged in by means of
connectors. The electrical installations also include an integrated
protective circuit.

Options

The robot can, for example, be equipped with the following options. The
option is described in separate documentation.
• Axis limitations for axes A1, A2 and A3
• Energy supply systems A1 to A3
• Energy supply systems A3 to A6
• Booster Frame S780
• Mounting flange (adapter)
• Mounting flange (adapter) in corrosion-protected design
• Adapter ring KR QUANTEC/KR QUANTEC-2
• Brake release device
The following options are also available:
• Release device
• Cover on hollow shaft A1
• Cable set cover
• PURGE option A
• PURGE option B
• PURGE option C

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Product description
• PURGE option D

2.3 Intended use and misuse

Intended use

The industrial robot is intended for handling tools and fixtures or for pro-
cessing and transferring components or products. Use is only permitted
under the specified environmental conditions.
Operation of the industrial robot in accordance with its intended use also
requires compliance with the operating and assembly instructions for the
individual components, with particular reference to the maintenance speci-
fications.

Misuse

Any use or application deviating from the intended use is deemed to be

misuse and is not allowed. Misuse will result in the loss of warranty and
liability claims. KUKA is not liable for any damage resulting from such mis-
use. This includes e.g.:
• Use as a climbing aid
• Operation outside the specified operating parameters
• Operation without the required safety equipment
• Transportation of persons and animals
• Outdoor operation
• Use in a potentially explosive area
• Use in radioactive environments
• Operation in underground mining

NOTICE
Deviations from the operating conditions specified in the technical data
or the use of special functions or applications can lead to premature
wear, for example. KUKA Service must be consulted in this event.

The robot system is an integral part of a complete system and may only
be operated in a CE-compliant system.

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Safety
3 Safety

3.1 General

• This “Safety” chapter refers to a mechanical component of an indus-

trial robot.
• If the mechanical component is used together with a KUKA robot
controller, the “Safety” chapter of the operating instructions or as-
sembly instructions of the robot controller must be used!
This contains all the information provided in this “Safety” chapter. It
also contains additional safety information relating to the robot con-
troller which must be observed.
• Where this “Safety” chapter uses the term “industrial robot”, this also
refers to the individual mechanical component if applicable.

3.1.1 Disclaimer

The device described in this document is either an industrial robot or a

component thereof.
Components of the industrial robot:

• Manipulator
• Robot controller
• Teach pendant
• Connecting cables
• External axes (optional)
e.g. linear unit, turn-tilt table, positioner
• Software
• Options, accessories
The industrial robot is built using state-of-the-art technology and in accord-
ance with the recognized safety rules. Nevertheless, misuse of the indus-
trial robot may constitute a risk to life and limb or cause damage to the
industrial robot and to other material property.
The industrial robot may only be used in perfect technical condition in ac-
cordance with its intended use and only by safety-conscious persons who
are fully aware of the risks involved in its operation. Use of the industrial
robot is subject to compliance with this document and with the declaration
of incorporation supplied together with the industrial robot. Any functional
disorders, especially those affecting safety, must be rectified immediately.

Safety information

Information about safety may not be construed against the manufacturer.

Even if all safety instructions are followed, this is not a guarantee that the
industrial robot will not cause personal injuries or material damage.
No modifications may be carried out to the industrial robot without the au-
thorization of the manufacturer. Unauthorized modifications will result in
the loss of warranty and liability claims.
Additional components (tools, software, etc.), not supplied by the manufac-
turer, may be integrated into the industrial robot. The user is liable for any
damage these components may cause to the industrial robot or to other
material property.
In addition to the safety chapter, this document contains further safety in-
structions. These must also be observed.

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3.1.2 EC declaration of conformity and declaration of incorporation

The industrial robot constitutes partly completed machinery as defined by

the EC Machinery Directive. The industrial robot may only be put into op-
eration if the following preconditions are met:
• The industrial robot is integrated into a complete system.
Or: The industrial robot, together with other machinery, constitutes a
complete system.
Or: All safety functions and safeguards required for operation in the
complete machine as defined by the EC Machinery Directive have
been added to the industrial robot.
• The complete system complies with the EC Machinery Directive. This
has been confirmed by means of a conformity assessment procedure.

EC declaration of conformity

The system integrator must issue an EC declaration of conformity for the

complete system in accordance with the Machinery Directive. The EC dec-
laration of conformity forms the basis for the CE mark for the system. The
industrial robot must always be operated in accordance with the applicable
national laws, regulations and standards.
The robot controller has a CE mark in accordance with the EMC Directive
and the Low Voltage Directive.

Declaration of incorporation

The partly completed machinery is supplied with a declaration of incorpo-

ration in accordance with Annex II B of the Machinery Directive
2006/42/EC. The assembly instructions and a list of essential require-
ments complied with in accordance with Annex I are integral parts of this
declaration of incorporation.
The declaration of incorporation declares that the start-up of the partly
completed machinery is not allowed until the partly completed machinery
has been incorporated into machinery, or has been assembled with other
parts to form machinery, and this machinery complies with the terms of
the EC Machinery Directive, and the EC declaration of conformity is
present in accordance with Annex II A.

3.1.3 Terms in the “Safety” section

Term Description

Axis range Range within which the axis may move

The axis range must be defined for each axis.

Stopping distance Stopping distance = reaction distance + braking distance

The stopping distance is part of the danger zone.

Workspace Area within which the robot may move.

The workspace is derived from the individual axis ranges.

User The user of the industrial robot can be the management, employer
or delegated person responsible for use of the industrial robot.

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Safety
Service life The service life of a safety-relevant component begins at the time
of delivery of the component to the customer.
The service life is not affected by whether the component is used
or not, as safety-relevant components are also subject to aging dur-
ing storage.

Danger zone The danger zone results from the workspace and stopping distance
of the manipulator including any external axes (if present).

KCP KUKA Control Panel

Teach pendant for the KR C2/KR C2 edition2005

KUKA smartPAD see “smartPAD”

KUKA smartPAD-2 see “smartPAD”

Manipulator The robot arm and the associated electrical installations

Safety zone The safeguarded zone is situated outside the danger zone.

smartPAD Teach pendant for the robot controller

The smartPAD has all the operator control and display functions re-
quired for operation and programming. The following models exist:

• KUKA smartPAD
• KUKA smartPAD-2
• KUKA smartPAD pro
For robot controllers of the KR C5 series with KUKA System Soft-
ware or VW System Software, only the model KUKA smartPAD-2
is used.
For robot controllers of the KR C5 series with KUKA [Link], on-
ly the model KUKA smartPAD pro is used.
For other robot controllers, the designation “KUKA smartPAD” or
“smartPAD” always refers to all models possible for the respective
controller unless an explicit distinction is made.

Stop categories Note: Information about the stop categories for KUKA robot control-
lers can be found in the “Safety” chapter of the robot controller as-
sembly instructions.

System integrator The system integrator is responsible for safely integrating the indus-
(plant integrator) trial robot into a complete system and commissioning it.

T1 Operating mode: Manual Reduced Speed (<= 250 mm/s) in manual

and program modes
For test operation, programming and teaching
With manual guidance in T1, the speed is not reduced, but rather
limited through a safety-oriented speed monitoring in accordance
with the safety configuration.
Note: The maximum speed of 250 mm/s does not apply to a mo-
bile platform.

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T2 Operating mode - Manual High Speed (> 250 mm/s permissible)

For test operation
Speed in program mode corresponds to the programmed speed!
Manual mode not possible

External axis Axis of motion that does not belong to the manipulator, yet is con-
trolled with the robot controller. For example, KUKA linear unit, turn-
tilt table and positioner
For KUKA [Link]: not relevant at present

3.2 Personnel

The following persons or groups of persons are defined for the industrial
robot:

• User
• Personnel

Qualification of personnel
Work on the system must only be performed by personnel that is able
to assess the tasks to be carried out and detect potential hazards.
Death, severe injuries or damage to property may otherwise result. The
following qualifications are required:
• Adequate specialist training, knowledge and experience
• Knowledge of the relevant operating or assembly instructions, knowl-
edge of the relevant standards
• All persons working with the industrial robot must have read and un-
derstood the industrial robot documentation, including the safety
chapter.

User

The user must observe the labor laws and regulations. This includes e.g.:

• The user must comply with his monitoring obligations.

• The user must carry out briefing at defined intervals.
• The user must comply with the regulations relating to personal protec-
tive equipment (PPE).

Personnel

Personnel must be instructed, before any work is commenced, in the type

of work involved and what exactly it entails as well as any hazards which
may exist. Instruction must be carried out regularly. Instruction is also re-
quired after particular incidents or technical modifications.
Personnel includes:

• System integrator
• Operators, subdivided into:
‒ Start-up, maintenance and service personnel
‒ Operator
‒ Cleaning personnel

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Safety
System integrator

The industrial robot is safely integrated into a complete system by the sys-
tem integrator.
The system integrator is responsible for the following tasks:

• Installing the industrial robot

• Connecting the industrial robot
• Performing the risk assessment
• Implementing the required safety functions and safeguards
• Issuing the EC declaration of conformity
• Affixing the CE mark
• Creating the operating instructions for the system

Operators

The operator must meet the following preconditions:

• The operator must be trained for the work to be carried out.
• Work on the system must only be carried out by qualified personnel.
These are people who, due to their specialist training, knowledge and
experience, and their familiarization with the relevant standards, are
able to assess the work to be carried out and detect any potential
hazards.

3.3 Workspace, safety zone and danger zone

Workspaces are to be restricted to the necessary minimum size.

The danger zone consists of the workspace and the stopping distances of
the manipulator and external axes (optional). The danger zone must be
protected by means of physical safeguards to prevent danger to persons
or the risk of material damage.
The safeguards (e.g. safety gate) must be located outside the danger
zone. In the case of a stop, the manipulator and external axes (optional)
are braked and come to a stop within the danger zone.
There must be no shearing or crushing hazards at the loading and trans-
fer areas.
If there are no physical safeguards present, the requirements for collabo-
rative operation in accordance with EN ISO 10218 must be met.

3.4 Overview of protective equipment

The protective equipment of the mechanical component may include:

• Mechanical end stops

• Mechanical axis limitation (optional)
• Release device (optional)
• Brake release device (optional)
• Labeling of danger areas
Not all equipment is relevant for every mechanical component.

3.4.1 Mechanical end stops

Depending on the robot variant, the axis ranges of the main and wrist ax-
es of the manipulator are partially limited by mechanical end stops.

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Additional mechanical end stops can be installed on the external axes.

Safety

WARNING
Danger to life and limb following collision with obstacle
If the manipulator or an external axis hits an obstruction or a mechani-
cal end stop or mechanical axis limitation, the manipulator can no
longer be operated safely. Death, injuries or damage to property may re-
sult.
• Put manipulator out of operation.
• Put external axis out of operation.
• KUKA must be consulted before they are put back into operation.

3.4.2 Mechanical axis limitation (optional)

Some manipulators can be fitted with adjustable mechanical axis limitation

systems in axes A1 to A3. The axis limitation systems restrict the working
range to the required minimum. This increases personal safety and pro-
tection of the system.
In the case of manipulators that are not designed to be fitted with me-
chanical axis limitation, the workspace must be laid out in such a way that
there is no danger to persons or material property, even in the absence of
mechanical axis limitation.
If this is not possible, the workspace must be limited by means of photo-
electric barriers, photoelectric curtains or mechanical limitations on the
system side. There must be no shearing or crushing hazards at the load-
ing and transfer areas.
This option is not available for all robot models. Information on specific
robot models can be obtained from the manufacturer.

3.4.3 Options for moving the manipulator without drive energy

Qualification of personnel with regard to behavior in emergency

situations
In emergencies or other exceptional situations, it may be necessary to
move the manipulator without drive energy.
• Personnel must be trained in how to move the manipulator without
drive energy.

Description

The following options may be available for moving the manipulator without
drive energy after an accident or malfunction:
• Release device (optional)
The release device can be used for the main axis drive motors and,
depending on the robot variant, also for the wrist axis drive motors.
• Brake release device (option)
The brake release device is designed for robot variants whose motors
are not freely accessible.
• Moving the wrist axes directly by hand
There is no release device available for the wrist axes of variants in
the low payload category. This is not necessary because the wrist ax-
es can be moved directly by hand.

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Safety
Information about the options available for the various robot models and
about how to use them can be found in the assembly and operating in-
structions for the robot or can be requested from the manufacturer.

3.4.4 Labeling on the industrial robot

All plates, labels, symbols and marks constitute safety-relevant parts of

the industrial robot. They must not be altered or removed.
Labeling on the industrial robot consists of:
• Rating plates
• Warning signs
• Safety symbols
• Designation labels
• Cable markings
• Identification plates

Further information is contained in the technical data of the operating in-

structions or assembly instructions of the components of the industrial
robot.

3.5 Safety measures

3.5.1 General safety measures

The industrial robot may only be used in perfect technical condition in ac-
cordance with its intended use and only by safety-conscious persons. Op-
erator errors can result in personal injury and damage to property.
It is important to be prepared for possible movements of the industrial ro-
bot even after the robot controller has been switched off and locked out.
Incorrect installation (e.g. overload) or mechanical defects (e.g. brake de-
fect) can cause the manipulator or external axes to sag.
• If work is to be carried out on a switched-off industrial robot, the ma-
nipulator and external axes must first be moved into a position in
which they are unable to move on their own, whether the payload is
mounted or not.
• If this is not possible, the manipulator and external axes must be se-
cured by appropriate means.

DANGER
Risk of fatal injury due to non-operational safety functions or exter-
nal safeguards
In the absence of operational safety functions or safeguards, the indus-
trial robot can cause death, severe injuries or damage to property.
• If safety functions or safeguards are dismantled or deactivated, do
not operate the industrial robot.

DANGER
Danger to life and limb of persons under the robot arm
Sagging or falling parts can cause death or serious injuries. This applies
at all times, e.g. also for assembly tasks or with the controller switched
off.
• Never loiter under the robot arm.

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CAUTION
Risk of burns from hot motors
The motors reach temperatures during operation which can cause
burns.
• Avoid contact.
• Take appropriate safety precautions, e.g. wear protective gloves.

Implants

WARNING
Danger to life due to malfunction of implants caused by motors
and brakes
Electric motors and brakes generate electric and magnetic fields. The
fields can cause malfunctions in active implants, e.g. pacemakers.
• Affected persons must maintain a minimum distance of 300 mm
from motors and brakes. This applies to both energized and deener-
gized motors and brakes.

KCP/smartPAD

The user must ensure that the industrial robot is only operated with the
KCP/smartPAD by authorized persons.
If more than one KCP/smartPAD is used in the overall system, it must be
ensured that each device is unambiguously assigned to the corresponding
industrial robot. There must not be any risk of confusion.
WARNING
Danger to life due to disconnected smartPAD/KCP
If a smartPAD/KCP is disconnected, its EMERGENCY STOP device is
not operational. There is a risk of connected and disconnected smart-
PADs/KCPs being interchanged. Death, injuries or damage to property
may result.
• Remove the disconnected smartPAD/KCP from the system immedi-
ately.
• Store the disconnected smartPAD/KCP out of sight and reach of
personnel working on the industrial robot.

The enabling switches on the smartPAD must be subjected to a function

test at least once every 12 months and in certain specific cases.
Information about function testing for KUKA robot controllers can be
found in the “Safety” chapter of the operating or assembly instructions
of the robot controller.

External keyboard, external mouse

An external keyboard and/or external mouse may only be used if the fol-
lowing conditions are met:

• Start-up or maintenance work is being carried out.

• The drives are switched off.
• There are no persons in the danger zone.
The KCP/smartPAD must not be used as long as an external keyboard
and/or external mouse are connected to the control cabinet.
The external keyboard and/or external mouse must be removed from the
control cabinet as soon as the start-up or maintenance work is completed
or the KCP/smartPAD is connected.

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Safety
Modifications

After modifications to the industrial robot, checks must be carried out to

ensure the required safety level. The valid national or regional work safety
regulations must be observed for this check. The correct functioning of all
safety functions must also be tested.
New or modified programs must always be tested first in the operating
mode T1.
After modifications to the industrial robot, existing programs must always
be tested first in the operating mode T1. This applies to all components of
the industrial robot and includes, for example, modifications to the external
axes or to the software and configuration settings.

Faults

In the case of faults on the industrial robot, the following safety measures
must be implemented immediately:
• Switch off the robot controller and secure it (e.g. with a padlock) to
prevent unauthorized persons from switching it on again.
• Indicate the fault by means of a label with a corresponding warning
(tagout).
• Keep a record of the faults.
Carry out a functional test after the fault has been rectified.

3.5.2 Transportation

Manipulator

The prescribed transport position of the manipulator must be observed.

Transportation must be carried out in accordance with the operating in-
structions or assembly instructions of the robot.
Avoid vibrations and impacts during transportation in order to prevent
damage to the manipulator.

Robot controller

The prescribed transport position of the robot controller must be observed.

Transportation must be carried out in accordance with the operating in-
structions or assembly instructions of the robot controller.
Avoid vibrations and impacts during transportation in order to prevent
damage to the robot controller.

External axis (optional)

The prescribed transport position of the external axis (e.g. KUKA linear
unit, turn-tilt table, positioner) must be observed. Transportation must be
carried out in accordance with the operating instructions or assembly in-
structions of the external axis.

3.5.3 Start-up and recommissioning

Before starting up systems and devices for the first time, a check must be
carried out to ensure that the systems and devices are complete and op-
erational, that they can be operated safely and that any damage is detec-
ted.

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The valid national or regional work safety regulations must be observed

Safety

for this check. The correct functioning of all safety circuits must also be
tested.
Change default passwords
The system software is supplied with default passwords for the user
groups. If the passwords are not changed, this enables unauthorized
persons to log on.
• Before start-up, change the passwords for the user groups.
• Only communicate the passwords to authorized personnel.

WARNING
Danger to life and limb due to incorrectly assigned cables
The robot controller is preconfigured for the specific industrial robot. The
manipulator and other components can receive incorrect data if they are
connected to a different robot controller. Death, severe injuries or dam-
age to property may result.
• Only connect the manipulator to the corresponding robot controller.

Do not impair safety functions

Additional components (e.g. cables and hoses) not supplied by KUKA
may be integrated into the industrial robot. If the safety functions are not
taken into consideration, this may result in death, severe injuries or
damage to property.
• Additional components must not impair or disable safety functions.

NOTICE
Damage to property due to condensation
If the internal cabinet temperature of the robot controller differs greatly
from the ambient temperature, condensation can form. Damage to prop-
erty may result.
• Wait until the internal cabinet temperature has adapted to the ambi-
ent temperature in order to avoid condensation.

Function test

The following tests must be carried out before start-up and recommission-
ing:
It must be ensured that:

• The industrial robot is correctly installed and fastened in accordance

with the specifications in the documentation.
• There is no damage to the robot that could be attributed to external
forces. Example: Dents or abrasion that could be caused by an impact
or collision.

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Safety
WARNING
Danger to life and limb resulting from external forces
The external application of force, such as an impact or a collision,
can cause non-visible damage. In the case of the motor, for exam-
ple, there may be a gradual loss of power transmission. This can re-
sult in unintentional motions of the manipulator.
Death, severe injuries or damage to property may result from non-
visible damage.
‒ Check the robot for damage that could have been caused by ex-
ternal forces, e.g. dents or abrasion of paintwork.
Check the motor and counterbalancing system particularly care-
fully.
(Motor inspection not relevant for robots with internal motors.)
‒ In the case of damage, the affected components must be ex-
changed.

• There are no foreign bodies or defective or loose parts on the industri-

al robot.
• All required safety equipment is correctly installed and operational.
• The power supply ratings of the industrial robot correspond to the
local supply voltage and mains type.
• The ground conductor and the equipotential bonding cable are suffi-
ciently rated and correctly connected.
• The connecting cables are correctly connected and the connectors are
locked.

3.5.4 Manual mode

General

Manual mode is the mode for setup work. Setup work is all the tasks that
have to be carried out on the industrial robot to enable automatic opera-
tion. Setup work includes:
• Jog mode
• Teaching
• Programming
• Program verification
The following must be taken into consideration in manual mode:
• New or modified programs must always be tested first in the operating
mode T1.
• The manipulator, tooling or external axes (optional) must never touch
or project beyond the safety fence.
• Workpieces, tooling and other objects must not jam as a result of the
industrial robot motion, nor must they lead to short-circuits or be liable
to fall off.
• All setup work must be carried out, where possible, from outside the
safeguarded area.

Setup work in T1

If it can be avoided, there must be no persons inside the safeguarded

area.

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If it is necessary to carry out setup work from inside the safeguarded

Safety

area, the following must be taken into consideration in the operating mode
T1:
• If it can be avoided, there must be no more than one person inside
the safeguarded area.
• If it is necessary for there to be several persons inside the safeguar-
ded area, the following must be observed:
‒ Each person must have an enabling device.
‒ All persons must have an unimpeded view of the industrial robot.
‒ Eye-contact between all persons must be possible at all times.
• The operator must be so positioned that he can see into the danger
zone and get out of harm’s way.
• Unexpected motions of the manipulator cannot be ruled out, e.g. in
the event of a fault. For this reason, an appropriate clearance must be
maintained between persons and the manipulator, including the tool.
Guide value: 50 cm.
The minimum clearance may vary depending on local circumstances,
the motion program and other factors. The minimum clearance that is
to apply for the specific application must be decided by the user on
the basis of a risk assessment.

Setup work in T2

If it is necessary to carry out setup work from inside the safeguarded

area, the following must be taken into consideration in the operating mode
T2:
• This operating mode may only be used if the application requires a
test at a speed higher than that possible in T1 mode.
• Teaching and programming are not permissible in this operating mode.
• Before commencing the test, the operator must ensure that the ena-
bling devices are operational.
• The operator must be positioned outside the danger zone.
• There must be no other persons inside the safeguarded area. It is the
responsibility of the operator to ensure this.

3.5.5 Automatic mode

Automatic mode is operation in one of the operating modes Automatic or

Automatic External.
Automatic mode is only permissible in compliance with the following safety
measures:

• All safety equipment and safeguards are present and operational.

• There are no persons in the system or the requirements for collabora-
tive operation in accordance with EN ISO 10218 have been met.
• The defined working procedures are adhered to.
If the manipulator or an external axis (optional) comes to a standstill for
no apparent reason, the danger zone must not be entered until an EMER-
GENCY STOP has been triggered.

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Safety
3.5.6 Maintenance and repair

After maintenance and repair work, checks must be carried out to ensure
the required safety level. The valid national or regional work safety regula-
tions must be observed for this check.
The correct functioning of all safety functions must also be tested.
The purpose of maintenance and repair work is to ensure that the system
is kept operational or, in the event of a fault, to return the system to an
operational state. Repair work includes troubleshooting in addition to the
actual repair itself.
The following safety measures must be carried out when working on the
industrial robot:
• Carry out work outside the danger zone. If work inside the danger
zone is necessary, the user must define additional safety measures to
ensure the safe protection of personnel.
• Switch off the industrial robot and secure it (e.g. with a padlock) to
prevent it from being switched on again. If it is necessary to carry out
work with the robot controller switched on, the user must define addi-
tional safety measures to ensure the safe protection of personnel.
• If it is necessary to carry out work with the robot controller switched
on, this may only be done in operating mode T1.
• Label the system with a sign indicating that work is in progress. This
sign must remain in place, even during temporary interruptions to the
work.
• The EMERGENCY STOP devices must remain active. If safety func-
tions or safeguards are deactivated during maintenance or repair work,
they must be reactivated immediately after the work is completed.

DANGER
Danger to life and limb due to live parts
The robot system must be disconnected from the mains power supply
prior to work on live parts. It is not sufficient to trigger an EMERGENCY
STOP or safety stop, because parts remain live. Death or severe inju-
ries may result.
• Before commencing work on live parts, turn off the main switch and
secure it against being switched on again.
If the controller variant in question does not have a main switch,
turn off the device switch then disconnect the power cable and se-
cure it so it cannot be reconnected.
• Then check to ensure that the system is deenergized.
• Inform the individuals involved that the robot controller is switched
off. (e.g. by affixing a warning sign)

Faulty components must be replaced using new components with the

same article numbers or equivalent components approved by the manu-
facturer for this purpose.
Cleaning and preventive maintenance work is to be carried out in accord-
ance with the operating instructions.

Robot controller

Even when the robot controller is switched off, parts connected to periph-
eral devices may still carry voltage. The external power sources must
therefore be switched off if work is to be carried out on the robot control-
ler.

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The ESD regulations must be adhered to when working on components in

Safety

the robot controller.

Voltages in excess of 50 V (up to 780 V) can be present in various com-
ponents for several minutes after the robot controller has been switched
off! To prevent life-threatening injuries, no work may be carried out on the
industrial robot in this time.
On robot controllers with transformers, the transformers must be discon-
nected before working on components in the robot controller.
Water and dust must be prevented from entering the robot controller.

Counterbalancing system

Some robot variants are equipped with a hydropneumatic, spring or gas

cylinder counterbalancing system.
• Counterbalancing system classified below category I: Is subject to
the Pressure Equipment Directive but exempt from application of the
Pressure Equipment Directive according to Art. 4, para. 3 and there-
fore not CE marked.
• Counterbalancing system classified as category I or higher: Is
subject to the Pressure Equipment Directive and CE marked as a
component (see rating plate of the counterbalancing system). The
pressure equipment is placed on the market in conjunction with partly
completed machinery. Conformity is expressed on the declaration of
incorporation according to the Machinery Directive.
The user must comply with the applicable national laws, regulations and
standards pertaining to pressure equipment.
• In Germany, the counterbalancing system is work equipment according
to the German Ordinance on Industrial Safety and Health (BetrSichV).
Inspection intervals in Germany in accordance with the Ordinance on
Industrial Safety and Health, Sections 14 and 15. Inspection by the
user before commissioning at the installation site.
• Inspection intervals in all other countries must be researched and ob-
served. As a rule, however, at least the maintenance intervals speci-
fied by KUKA must be observed. These must not be exceeded.
The following safety measures must be carried out when working on the
counterbalancing system:
• The assemblies supported by the counterbalancing systems must be
secured.
• Work on the counterbalancing systems must only be carried out by
qualified personnel.

Hazardous substances

The following safety measures must be carried out when handling hazard-
ous substances:
• Avoid prolonged and repeated intensive contact with the skin.
• Avoid breathing in oil spray or vapors.
• Clean skin and apply skin cream.

Use current safety data sheets

Knowledge of the safety data sheets of the substances and mixtures
used is a prerequisite for the safe use of KUKA products. Death,
injuries or damage to property may otherwise result.
• Request up-to-date safety data sheets from the manufacturers of
hazardous substances regularly.

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Safety
3.5.7 Decommissioning, storage and disposal

The industrial robot must be decommissioned, stored and disposed of in

accordance with the applicable national laws, regulations and standards.

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Technical data
4 Technical data

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Technical data KR QUANTEC-2

4.1 Basic data overview

Basic data

Maximum pay-
Kinematic type Number of axes Rated payload
load
KR 120 R2700-2
KR 120 R2700-2
C01 167 kg
KR 120 R2700-2
120 kg
F
KR 120 R3100-2
KR 120 R3100-2 210 kg
F
KR 150 R2700-2
KR 150 R2700-2 218 kg
F
150 kg
KR 150 R3100-2
KR 150 R3100-2 220 kg
F
KR 180 R2900-2
KR 180 R2900-2 180 kg 253 kg
F
KR 210 R2700-2
KR 210 R2700-2
C01 275 kg
KR 210 R2700-2
F
Articulated robot 6 210 kg
KR 210 R3100-2
KR 210 R3100-2 281 kg
F
KR 210 R3100-2
255 kg
C
KR 240 R2900-2
KR 240 R2900-2 319 kg
F 240 kg
KR 240 R2900-2
292 kg
C
KR 250 R2700-2
KR 250 R2700-2 315 kg
F 250 kg
KR 250 R2700-2
305 kg
C
KR 300 R2700-2
KR 300 R2700-2
C01 370 kg
KR 300 R2700-2 300 kg
F
KR 300 R2700-2
366 kg
C

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Technical data
Volume of
Pose repeatabil-
Maximum reach working enve- Controller
ity (ISO 9283)
lope
KR C5 M6/M7;
KR 120 R2700-2
KR C4
KR 120 R2700-2
2701 mm 56.3 m³ KR C5 M6/M7
C01
KR 120 R2700-2
F
KR 120 R3100-2
KR 120 R3100-2 3100 mm 86.3 m³
F
KR 150 R2700-2
KR 150 R2700-2 2701 mm 56.3 m³
F
KR 150 R3100-2
KR 150 R3100-2 3100 mm 86.3 m³
F
KR 180 R2900-2
KR 180 R2900-2 2900 mm 68 m³
F
KR 210 R2700-2
KR 210 R2700-2
C01 2701 mm 56.3 m³
KR C5 M6/M7;
KR 210 R2700-2 KR C4
F ± 0.05 mm
KR 210 R3100-2
KR 210 R3100-2 3100 mm 86.3 m³
F
KR 210 R3100-2
3065 mm 79.3 m³
C
KR 240 R2900-2
KR 240 R2900-2 2900 mm 68 m³
F
KR 240 R2900-2
2865 mm 62.1 m³
C
KR 250 R2700-2
KR 250 R2700-2 2701 mm 56.3 m³
F
KR 250 R2700-2
2671 mm 51.8 m³
C
KR 300 R2700-2
KR 300 R2700-2
KR C5 M6/M7
C01 2701 mm 56.3 m³
KR 300 R2700-2
F KR C5 M6/M7;
KR 300 R2700-2 KR C4
2671 mm 51.8 m³
C

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Protection rat-
Protection rat-
Weight ing, robot wrist Sound level
ing (IEC 60529)
(IEC 60529)
KR 120 R2700-2
KR 120 R2700-2 IP65
C01 approx. 1069 kg
KR 120 R2700-2
IP65 / IP67
F
KR 120 R3100-2 IP65
KR 120 R3100-2 approx. 1105 kg
IP65 / IP67
F
KR 150 R2700-2 IP65
KR 150 R2700-2 approx. 1072 kg
IP65 / IP67
F
KR 150 R3100-2 IP65
KR 150 R3100-2
IP65 / IP67
F
approx. 1105 kg
KR 180 R2900-2 IP65
KR 180 R2900-2
IP65 / IP67
F
KR 210 R2700-2
KR 210 R2700-2 IP65
C01 approx. 1077 kg
KR 210 R2700-2
IP65 / IP67
F
IP65 / IP67 < 75 dB (A)
KR 210 R3100-2 IP65
KR 210 R3100-2 approx. 1134 kg
IP65 / IP67
F
KR 210 R3100-2
approx. 1139 kg
C IP65
KR 240 R2900-2
KR 240 R2900-2 approx. 1120 kg
IP65 / IP67
F
KR 240 R2900-2
approx. 1125 kg
C IP65
KR 250 R2700-2
KR 250 R2700-2 approx. 1101 kg
IP65 / IP67
F
KR 250 R2700-2
approx. 1105 kg
C
KR 300 R2700-2 IP65
KR 300 R2700-2
C01 approx. 1101 kg
KR 300 R2700-2
IP65 / IP67
F
KR 300 R2700-2
approx. 1105 kg IP65
C

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Technical data
Hole pattern:
Permissible an-
Mounting posi- mounting sur-
Footprint gle of inclina-
tion face for kine-
tion
matic system
KR 120 R2700-2
KR 120 R2700-2
C01
KR 120 R2700-2
F
KR 120 R3100-2
KR 120 R3100-2
F
KR 150 R2700-2
KR 150 R2700-2
F
KR 150 R3100-2
KR 150 R3100-2 Floor ± 5 °
F
KR 180 R2900-2
KR 180 R2900-2
F
KR 210 R2700-2
KR 210 R2700-2
C01
KR 210 R2700-2
F 754 mm x 754
S780
KR 210 R3100-2 mm

KR 210 R3100-2
F
KR 210 R3100-2
Ceiling ± 0 °
C
KR 240 R2900-2
KR 240 R2900-2 Floor ± 5 °
F
KR 240 R2900-2
Ceiling ± 0 °
C
KR 250 R2700-2
KR 250 R2700-2 Floor ± 5 °
F
KR 250 R2700-2
Ceiling ± 0 °
C
KR 300 R2700-2
KR 300 R2700-2
C01 Floor ± 5 °
KR 300 R2700-2
F
KR 300 R2700-2
Ceiling ± 0 °
C

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Technical data KR QUANTEC-2

The manipulator is designed in such a way that, in accordance with

standard IEC 60529, no water can penetrate into electrical equipment
spaces in normal operation. Water spray and corrosive additives can
nevertheless lead to corrosion (rust) on uncoated parts. In this case, it
is advisable to provide the equipment with corrosion protection. Corro-
sion does not represent a defect as defined by the standard, as long as
it does not have a detrimental effect on the protection rating. The pro-
tection rating is valid in the case of compliance with the specified ambi-
ent conditions.

Foundry robots

Overpressure in the Max. 0.03 MPa (0.3 bar)

arm
Compressed air Free of oil and water
in accordance with ISO 8573-1:2010 ([Link])
Compressed air sup- Air line in the cable set
ply line
Operating pressure 0.01 MPa (0.1 bar)
(PURGE)
Air consumption 0.1 m3/h
Air line connection Push-in fitting for hose, 6 mm
Thermal load of the 10 s/min at 180 °C (453 K)
wrist
Resistance Increased resistance to dust, lubricants, cool-
ants and water vapor.
Special paint finish on Special paint finish on the entire robot, and an
the robot additional protective clear coat.
Other ambient condi- KUKA Service must be consulted if the robot is
tions to be used under other ambient conditions.

Ambient conditions

Humidity class (EN 60204) -

Classification of environmental -
conditions (EN 60721-3-3)
Ambient temperature
During operation 0 °C to 55 °C (273 K to 328 K)
During storage/transportation -40 °C to 60 °C (233 K to 333 K)

For operation at low temperatures, it may be necessary to warm up the

robot.

During operation in the low-temperature range, frost and condensation

must be avoided, as damage to property may otherwise arise.

Ambient conditions, KR 210 R2700-2

Humidity class (EN 60204) -

Classification of environmental -
conditions (EN 60721-3-3)
Cleanroom class (ISO 14644-1) Class 6 at 40% override;
Class 6 at 80% override
Ambient temperature

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Technical data
During operation 0 °C to 55 °C (273 K to 328 K)
During storage/transportation -40 °C to 60 °C (233 K to 333 K)

For operation at low temperatures, it may be necessary to warm up the

robot.

During operation in the low-temperature range, frost and condensation

must be avoided, as damage to property may otherwise arise.

Ambient conditions, Foundry

Humidity class (EN 60204) -

Classification of environmental -
conditions (EN 60721-3-3)
Ambient temperature
During operation 0 °C to 55 °C (273 K to 328 K)
During storage/transportation -40 °C to 60 °C (233 K to 333 K)

pH value 7.0 to 9.0

For operation at low temperatures, it may be necessary to warm up the

robot.

During operation in the low-temperature range, frost and condensation

must be avoided, as damage to property may otherwise arise.

Connecting cables, KR C4

Connector designation
Cable designation robot controller - Interface with robot
robot
Motor cable X20 - X30 Han® 16HP
Data cable X21 - X31 Han® 3A Q12
Ground conductor / equipotential M8 ring cable lug at
bonding both ends
16 mm2

Cable lengths 7 m, 10 m, 15 m, 20 m, 25 m, 30 m, 35 m, 50 m
Max. cable length 50 m
Number of extensions 1

Connecting cables, KR C5

Connector designation
Cable designation robot controller - Interface with robot
robot
Motor cable 6 motor connectors: Han® 16HP
XD20.1 … XD20.6 - XD30
2 brake connectors:
XD10.1, XD10.2 - XD30
Data cable XF21 - XF31 Han® 3A Q12
Ground conductor / equipotential M8 ring cable lug at
bonding both ends
16 mm2

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Cable lengths 7 m, 10 m, 15 m, 20 m, 25 m, 30 m, 35 m, 50 m
Max. cable length 50 m
Number of extensions 1

Certificates

ESD requirements IEC61340-5-1; ANSI/ESD S20.20

Valid for standard and ceiling-mounted machines.

4.2 Axis data overview

Motion range
A1 A2 A3 A4 A5 A6
KR 120 R2700-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 120 R2700-2 C01
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 120 R2700-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 120 R3100-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 120 R3100-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 150 R2700-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 150 R2700-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 150 R3100-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 150 R3100-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 180 R2900-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 180 R2900-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 210 R2700-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 210 R2700-2 C01
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 210 R2700-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±125 ° ±350 °
KR 210 R3100-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 210 R3100-2 F

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Technical data
Motion range
A1 A2 A3 A4 A5 A6
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 210 R3100-2 C
±185 ° -140 ° / -14 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 240 R2900-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 240 R2900-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 240 R2900-2 C
±185 ° -140 ° / -14 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 250 R2700-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 250 R2700-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 250 R2700-2 C
±185 ° -140 ° / -14 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 300 R2700-2
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 300 R2700-2 C01
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 300 R2700-2 F
±185 ° -140 ° / -5 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °
KR 300 R2700-2 C
±185 ° -140 ° / -14 ° -120 ° / 168 ° ±350 ° ±122.5 ° ±350 °

Speed with rated payload

A1 A2 A3 A4 A5 A6
KR 120 R2700-2
120 °/s 115 °/s 120 °/s 190 °/s 180 °/s 260 °/s
KR 120 R2700-2 C01
120 °/s 115 °/s 120 °/s 190 °/s 180 °/s 260 °/s
KR 120 R2700-2 F
120 °/s 115 °/s 120 °/s 190 °/s 180 °/s 260 °/s
KR 120 R3100-2
120 °/s 115 °/s 120 °/s 190 °/s 180 °/s 260 °/s
KR 120 R3100-2 F
120 °/s 115 °/s 120 °/s 190 °/s 180 °/s 260 °/s
KR 150 R2700-2
120 °/s 115 °/s 120 °/s 190 °/s 180 °/s 260 °/s
KR 150 R2700-2 F
120 °/s 115 °/s 120 °/s 190 °/s 180 °/s 260 °/s
KR 150 R3100-2

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Speed with rated payload

A1 A2 A3 A4 A5 A6
105 °/s 107 °/s 114 °/s 190 °/s 180 °/s 260 °/s
KR 150 R3100-2 F
105 °/s 107 °/s 114 °/s 190 °/s 180 °/s 260 °/s
KR 180 R2900-2
105 °/s 107 °/s 114 °/s 179 °/s 172 °/s 219 °/s
KR 180 R2900-2 F
105 °/s 107 °/s 114 °/s 179 °/s 172 °/s 219 °/s
KR 210 R2700-2
120 °/s 115 °/s 112 °/s 179 °/s 172 °/s 220 °/s
KR 210 R2700-2 C01
120 °/s 115 °/s 112 °/s 179 °/s 172 °/s 220 °/s
KR 210 R2700-2 F
120 °/s 115 °/s 112 °/s 179 °/s 172 °/s 220 °/s
KR 210 R3100-2
105 °/s 94 °/s 100 °/s 136 °/s 129 °/s 206 °/s
KR 210 R3100-2 F
105 °/s 94 °/s 100 °/s 136 °/s 129 °/s 206 °/s
KR 210 R3100-2 C
105 °/s 94 °/s 100 °/s 136 °/s 129 °/s 206 °/s
KR 240 R2900-2
103 °/s 94 °/s 100 °/s 170 °/s 129 °/s 206 °/s
KR 240 R2900-2 F
103 °/s 94 °/s 100 °/s 170 °/s 129 °/s 206 °/s
KR 240 R2900-2 C
103 °/s 94 °/s 100 °/s 170 °/s 129 °/s 206 °/s
KR 250 R2700-2
105 °/s 107 °/s 107 °/s 170 °/s 129 °/s 206 °/s
KR 250 R2700-2 F
105 °/s 107 °/s 107 °/s 170 °/s 129 °/s 206 °/s
KR 250 R2700-2 C
105 °/s 107 °/s 107 °/s 170 °/s 129 °/s 206 °/s
KR 300 R2700-2
105 °/s 101 °/s 107 °/s 140 °/s 113 °/s 180 °/s
KR 300 R2700-2 C01
105 °/s 101 °/s 107 °/s 140 °/s 113 °/s 180 °/s
KR 300 R2700-2 F
105 °/s 101 °/s 107 °/s 140 °/s 113 °/s 180 °/s
KR 300 R2700-2 C
105 °/s 101 °/s 107 °/s 140 °/s 113 °/s 180 °/s
The direction of motion and the arrangement of the individual axes may
be noted from the following diagram.

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Technical data
Fig. 4-1: Direction of rotation of the axes

Work area

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.

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Working envelope, KR 120 R2700-2

Fig. 4-2: KR 120 R2700-2, working envelope, overall

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Technical data
Working envelope, KR 120 R2700-2 C01

Fig. 4-3: KR 120 R2700-2 C01, working envelope, overall

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Working envelope, KR 120 R2700-2 F

Fig. 4-4: KR 120 R2700-2 F, working envelope, overall

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Technical data
Working envelope, KR 120 R3100-2

Fig. 4-5: KR 120 R3100-2, working envelope, overall

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Working envelope, KR 120 R3100-2 F

Fig. 4-6: KR 120 R3100-2 F, working envelope, overall

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Technical data
Working envelope, KR 150 R2700-2

Fig. 4-7: KR 150 R2700-2, working envelope, overall

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Working envelope, KR 150 R2700-2 F

Fig. 4-8: KR 150 R2700-2 F, working envelope, overall

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Technical data
Working envelope, KR 150 R3100-2

Fig. 4-9: KR 150 R3100-2, working envelope, overall

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Working envelope, KR 150 R3100-2 F

Fig. 4-10: KR 150 R3100-2 F, working envelope, overall

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Technical data
Working envelope, KR 180 R2900-2

Fig. 4-11: KR 180 R2900-2, working envelope, overall

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Working envelope, KR 180 R2900-2 F

Fig. 4-12: KR 180 R2900-2 F, working envelope, overall

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Technical data
Working envelope, KR 210 R2700-2

Fig. 4-13: KR 210 R2700-2, working envelope, overall

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Working envelope, KR 210 R2700-2 C01

Fig. 4-14: KR 210 R2700-2 C01, working envelope, overall

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Technical data
Working envelope, KR 210 R2700-2 F

Fig. 4-15: KR 210 R2700-2 F, working envelope, overall

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Working envelope, KR 210 R3100-2

Fig. 4-16: KR 210 R3100-2, working envelope, overall

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Technical data
Working envelope, KR 210 R3100-2 F

Fig. 4-17: KR 210 R3100-2 F, working envelope, overall

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Working envelope, KR 210 R3100-2 C

Fig. 4-18: KR 210 R3100-2 C, working envelope, overall

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Technical data
Working envelope, KR 240 R2900-2

Fig. 4-19: KR 240 R2900-2, working envelope, overall

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Working envelope, KR 240 R2900-2 F

Fig. 4-20: KR 240 R2900-2 F, working envelope, overall

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Technical data
Working envelope, KR 240 R2900-2 C

Fig. 4-21: KR 240 R2900-2 C, working envelope, overall

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Working envelope, KR 250 R2700-2

Fig. 4-22: KR 250 R2700-2, working envelope, overall

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Technical data
Working envelope, KR 250 R2700-2 F

Fig. 4-23: KR 250 R2700-2 F, working envelope, overall

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Working envelope, KR 250 R2700-2 C

Fig. 4-24: KR 250 R2700-2 C, working envelope, overall

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Technical data
Working envelope, KR 300 R2700-2

Fig. 4-25: KR 300 R2700-2, working envelope, overall

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Working envelope, KR 300 R2700-2 C01

Fig. 4-26: KR 300 R2700-2 C01, working envelope, overall

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Technical data
Working envelope, KR 300 R2700-2 F

Fig. 4-27: KR 300 R2700-2 F, working envelope, overall

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Working envelope, KR 300 R2700-2 C

Fig. 4-28: KR 300 R2700-2 C, working envelope, overall

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Technical data
4.3 Payloads overview

Payloads

Rated payload Maximum payload Rated total load

KR 120 R2700-2
KR 120 R2700-2 C01 167 kg
KR 120 R2700-2 F 120 kg 170 kg
KR 120 R3100-2
210 kg
KR 120 R3100-2 F
KR 150 R2700-2
218 kg
KR 150 R2700-2 F
150 kg 200 kg
KR 150 R3100-2
220 kg
KR 150 R3100-2 F
KR 180 R2900-2
180 kg 253 kg 230 kg
KR 180 R2900-2 F
KR 210 R2700-2
KR 210 R2700-2 C01 275 kg
KR 210 R2700-2 F
210 kg 260 kg
KR 210 R3100-2
281 kg
KR 210 R3100-2 F
KR 210 R3100-2 C 255 kg
KR 240 R2900-2
319 kg
KR 240 R2900-2 F 240 kg 290 kg
KR 240 R2900-2 C 292 kg
KR 250 R2700-2
315 kg
KR 250 R2700-2 F 250 kg 300 kg
KR 250 R2700-2 C 305 kg
KR 300 R2700-2
KR 300 R2700-2 C01 370 kg
300 kg 350 kg
KR 300 R2700-2 F
KR 300 R2700-2 C 366 kg

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Rated supplementary loads

Rotating col-
Base frame Link arm Arm
umn
KR 120 R2700-2
KR 120 R2700-2
C01
KR 120 R2700-2
F
KR 120 R3100-2
KR 120 R3100-2
F
KR 150 R2700-2
KR 150 R2700-2
F
KR 150 R3100-2
KR 150 R3100-2
F
KR 180 R2900-2
KR 180 R2900-2
F
KR 210 R2700-2
KR 210 R2700-2
C01
KR 210 R2700-2
F
0 kg 0 kg 0 kg 50 kg
KR 210 R3100-2
KR 210 R3100-2
F
KR 210 R3100-2
C
KR 240 R2900-2
KR 240 R2900-2
F
KR 240 R2900-2
C
KR 250 R2700-2
KR 250 R2700-2
F
KR 250 R2700-2
C
KR 300 R2700-2
KR 300 R2700-2
C01
KR 300 R2700-2
F
KR 300 R2700-2
C

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Technical data
Maximum supplementary loads

Rotating col-
Base frame Link arm Arm
umn
KR 120 R2700-2
KR 120 R2700-2
C01
KR 120 R2700-2
F
KR 120 R3100-2
KR 120 R3100-2
F
KR 150 R2700-2
KR 150 R2700-2
F
KR 150 R3100-2
KR 150 R3100-2
F
KR 180 R2900-2
KR 180 R2900-2
F
KR 210 R2700-2
KR 210 R2700-2
C01
KR 210 R2700-2
F
0 kg 300 kg 130 kg 150 kg
KR 210 R3100-2
KR 210 R3100-2
F
KR 210 R3100-2
C
KR 240 R2900-2
KR 240 R2900-2
F
KR 240 R2900-2
C
KR 250 R2700-2
KR 250 R2700-2
F
KR 250 R2700-2
C
KR 300 R2700-2
KR 300 R2700-2
C01
KR 300 R2700-2
F
KR 300 R2700-2
C

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Load center of gravity and mass moment of inertia

Fig. 4-29: Load center of gravity and mass moment of inertia

Parameters

Parameter/unit Description
Mass kg Payload mass
Lx, Ly, Lz mm Position of the center of mass in the reference
system
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:

Ix kgm2 Inertia about the X axis of the main axis sys-
tem
Iy kgm2 Inertia about the Y axis of the main axis sys-
tem
Iz kgm2 Inertia about the Z axis of the main axis sys-
tem
Lx, Ly, Lz 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.

Further information is contained in the KUKA Load documentation.

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Technical data
Payload diagram, KR 120 R2700-2

Fig. 4-30: Payload diagram, KR 120 R2700-2

Payload diagram, KR 120 R2700-2 C01

Fig. 4-31: Payload diagram, KR 120 R2700-2 C01

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Payload diagram, KR 120 R2700-2 F

Fig. 4-32: Payload diagram, KR 120 R2700-2 F

Payload diagram, KR 120 R3100-2

Fig. 4-33: Payload diagram, KR 120 R3100-2

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Technical data
Payload diagram, KR 120 R3100-2 F

Fig. 4-34: Payload diagram, KR 120 R3100-2 F

Payload diagram, KR 150 R2700-2

Fig. 4-35: Payload diagram, KR 150 R2700-2

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Payload diagram, KR 150 R2700-2 F

Fig. 4-36: Payload diagram, KR 150 R2700-2 F

Payload diagram, KR 150 R3100-2

Fig. 4-37: Payload diagram, KR 150 R3100-2

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Technical data
Payload diagram, KR 150 R3100-2 F

Fig. 4-38: Payload diagram, KR 150 R3100-2 F

Payload diagram, KR 180 R2900-2

Fig. 4-39: Payload diagram, KR 180 R2900-2

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Payload diagram, KR 180 R2900-2 F

Fig. 4-40: Payload diagram, KR 180 R2900-2 F

Payload diagram, KR 210 R2700-2

Fig. 4-41: Payload diagram, KR 210 R2700-2

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Technical data
Payload diagram, KR 210 R2700-2 C01

Fig. 4-42: Payload diagram, KR 210 R2700-2 C01

Payload diagram, KR 210 R2700-2 F

Fig. 4-43: Payload diagram, KR 210 R2700-2 F

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Payload diagram, KR 210 R3100-2

Fig. 4-44: Payload diagram, KR 210 R3100-2

Payload diagram, KR 210 R3100-2 F

Fig. 4-45: Payload diagram, KR 210 R3100-2 F

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Technical data
Payload diagram, KR 210 R3100-2 C

Fig. 4-46: Payload diagram, KR 210 R3100-2 C

Payload diagram, KR 240 R2900-2

Fig. 4-47: KR 240 R2900-2, payload diagram

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Payload diagram, KR 240 R2900-2 F

Fig. 4-48: KR 240 R2900-2 F, payload diagram

Payload diagram, KR 240 R2900-2 C

Fig. 4-49: KR 240 R2900-2 C, payload diagram

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Technical data
Payload diagram, KR 250 R2700-2

Fig. 4-50: Payload diagram, KR 250 R2700-2

Payload diagram, KR 250 R2700-2 F

Fig. 4-51: Payload diagram, KR 250 R2700-2 F

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Payload diagram, KR 250 R2700-2 C

Fig. 4-52: Payload diagram, KR 250 R2700-2 C

Payload diagram, KR 300 R2700-2

Fig. 4-53: Payload diagram, KR 300 R2700-2

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Technical data
Payload diagram, KR 300 R2700-2 C01

Fig. 4-54: Payload diagram, KR 300 R2700-2 C01

Payload diagram, KR 300 R2700-2 F

Fig. 4-55: Payload diagram, KR 300 R2700-2 F

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Payload diagram, KR 300 R2700-2 C

Fig. 4-56: Payload diagram, KR 300 R2700-2 C

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 Service
must be consulted beforehand.
The values determined here are necessary for planning the robot appli-
cation. For start-up of the robot, additional input data are required in ac-
cordance with the documentation for the 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!

The manipulator is designed for its respective rated payload in order to

optimize the dynamic performance of the robot. With reduced load center
distances and favorable supplementary loads, the maximum payload can
be mounted. The specific load case must be verified using KUKA Load.
For further consultation, please contact KUKA Service.

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Technical data
Mounting flange D=125

Designation Robot wrist type Mounting flange standard

KR 120 R2700-2
ZH210
KR 120 R2700-2 C01
KR 120 R2700-2 F ZH210 F
KR 120 R3100-2 ZH210
KR 120 R3100-2 F ZH210 F
KR 150 R2700-2 ZH210
Deviation, see figure
KR 150 R2700-2 F ZH210 F
KR 150 R3100-2 ZH210
KR 150 R3100-2 F ZH210 F
KR 210 R2700-2
ZH210
KR 210 R2700-2 C01
KR 210 R2700-2 F ZH210 F

Mounting flange (hole circle) 125 mm

Screw grade 10.9
Screw size M10
Number of fastening threads 11
Depth of engagement min. 11.5 mm, max. 16 mm
Locating element 10 H7

Standard See diagram (>>> Fig. 4-57)

The mounting flange is depicted (>>> Fig. 4-57) with axes 4 and 6 in the
zero position. The symbol Xm indicates the position of the locating ele-
ment (bushing) in the zero position.

Fig. 4-57: Mounting flange D=125

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Mounting flange D=160

Designation Robot wrist type Mounting flange standard

KR 180 R2900-2 ZH300
KR 180 R2900-2 F ZH300 F
KR 210 R3100-2 ZH300
KR 210 R3100-2 F ZH300 F
KR 210 R3100-2 C
ZH300
KR 240 R2900-2
KR 240 R2900-2 F ZH300 F
KR 240 R2900-2 C Deviation, see figure
ZH300
KR 250 R2700-2
KR 250 R2700-2 F ZH300 F
KR 250 R2700-2 C
KR 300 R2700-2 ZH300
KR 300 R2700-2 C01
KR 300 R2700-2 F ZH300 F
KR 300 R2700-2 C ZH300

Mounting flange (hole circle) 160 mm

Screw grade 10.9
Screw size M10
Number of fastening threads 11
Depth of engagement min. 15 mm, max. 19 mm
Locating element 10 H7

Standard See diagram (>>> Fig. 4-58)

The mounting flange is depicted (>>> Fig. 4-58) with axes 4 and 6 in the
zero position. The symbol Xm indicates the position of the locating ele-
ment (bushing) in the zero position.

Fig. 4-58: Mounting flange D=160

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Technical data
Flange loads

The motion of the robot causes forces and torques to act on the mounting
flange, which are transmitted to the mounted payload (e.g. tool).
The specified values refer to rated payloads and do not include any safety
factors. The actual forces and torques depend on the motion profile as
well as the mass, load center of gravity and mass moment of inertia of
the payload. It is imperative for the load data to be entered in the robot
controller. The robot controller takes the payload into consideration during
path planning.
The payload must be able to permanently withstand the forces and tor-
ques generated during normal operation.
The EMERGENCY STOP values only rarely occur during the service life
of the robot (emergency situations). The frequency depends on the config-
uration of the system.
WARNING
Danger to life and limb due to insufficient stability of the tool
Incorrectly dimensioned tools can fracture and fail. Death, severe inju-
ries or damage to property may result.
• Calculate the tool for each individual case, taking the load data into
consideration.
• Use the specified installation equipment.

Fig. 4-59: Flange loads

Axial force F(a), radial force F(r)

Flange loads in the case of EMERGENCY

Flange loads during operation
STOP
F(a) F(r) F(a) F(r)
KR 120 R2700-2
4005 N 3631 N 6167 N 8625 N
KR 120 R2700-2 C01
4005 N 3631 N 6167 N 8625 N
KR 120 R2700-2 F
4005 N 3631 N 6167 N 8625 N
KR 120 R3100-2
4005 N 3631 N 6167 N 8625 N
KR 120 R3100-2 F
4005 N 3631 N 6167 N 8625 N
KR 150 R2700-2
4005 N 3631 N 6167 N 8625 N

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Flange loads in the case of EMERGENCY

Flange loads during operation
STOP
F(a) F(r) F(a) F(r)
KR 150 R2700-2 F
4005 N 3631 N 6167 N 8625 N
KR 150 R3100-2
4005 N 3631 N 6167 N 8625 N
KR 150 R3100-2 F
4005 N 3631 N 6167 N 8625 N
KR 180 R2900-2
5127 N 4555 N 8571 N 11250 N
KR 180 R2900-2 F
5127 N 4555 N 8571 N 11250 N
KR 210 R2700-2
4005 N 3631 N 6167 N 8625 N
KR 210 R2700-2 C01
4005 N 3631 N 6167 N 8625 N
KR 210 R2700-2 F
4005 N 3631 N 6167 N 8625 N
KR 210 R3100-2
5127 N 4555 N 8571 N 11250 N
KR 210 R3100-2 F
5127 N 4555 N 8571 N 11250 N
KR 210 R3100-2 C
4800 N 4500 N 8700 N 12600 N
KR 240 R2900-2
5127 N 4555 N 8571 N 11250 N
KR 240 R2900-2 F
5127 N 4555 N 8571 N 11250 N
KR 240 R2900-2 C
4800 N 4500 N 8700 N 12600 N
KR 250 R2700-2
5127 N 4555 N 8571 N 11250 N
KR 250 R2700-2 F
5127 N 4555 N 8571 N 11250 N
KR 250 R2700-2 C
4800 N 4500 N 8700 N 12600 N
KR 300 R2700-2
5127 N 4555 N 8571 N 11250 N
KR 300 R2700-2 C01
5127 N 4555 N 8571 N 11250 N
KR 300 R2700-2 F
5127 N 4555 N 8571 N 11250 N

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Technical data
Flange loads in the case of EMERGENCY
Flange loads during operation
STOP
F(a) F(r) F(a) F(r)
KR 300 R2700-2 C
4800 N 4500 N 8700 N 12600 N

Tilting torque M(k), torque about mounting flange M(g)

Flange loads in the case of EMERGENCY

Flange loads during operation
STOP
M(k) M(g) M(k) M(g)
KR 120 R2700-2
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 120 R2700-2 C01
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 120 R2700-2 F
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 120 R3100-2
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 120 R3100-2 F
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 150 R2700-2
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 150 R2700-2 F
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 150 R3100-2
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 150 R3100-2 F
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 180 R2900-2
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 180 R2900-2 F
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 210 R2700-2
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 210 R2700-2 C01
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 210 R2700-2 F
2343 Nm 1007 Nm 5862 Nm 4463 Nm
KR 210 R3100-2
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 210 R3100-2 F
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 210 R3100-2 C

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Flange loads in the case of EMERGENCY

Flange loads during operation
STOP
M(k) M(g) M(k) M(g)
3200 Nm 1700 Nm 6700 Nm 5700 Nm
KR 240 R2900-2
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 240 R2900-2 F
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 240 R2900-2 C
3200 Nm 1700 Nm 6700 Nm 5700 Nm
KR 250 R2700-2
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 250 R2700-2 F
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 250 R2700-2 C
3200 Nm 1700 Nm 6700 Nm 5700 Nm
KR 300 R2700-2
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 300 R2700-2 C01
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 300 R2700-2 F
3410 Nm 1649 Nm 6393 Nm 5225 Nm
KR 300 R2700-2 C
3200 Nm 1700 Nm 6700 Nm 5700 Nm

Supplementary load

The robot can carry supplementary loads on the rotating column, link arm,
arm and in-line wrist. When mounting the supplementary loads, be careful
to observe the maximum permissible total load. The dimensions and posi-
tions of the installation options can be seen in the following diagrams.

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Technical data
Supplementary load, KR 120 R2700-2

Fig. 4-60: Fastening of supplementary load on arm/in-line wrist, KR

120 R2700-2

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Fig. 4-61: Fastening of supplementary load on rotating column/link

arm, KR 120 R2700-2

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Technical data
Supplementary load, KR 120 R2700-2 C01

Fig. 4-62: Fastening of supplementary load on arm/in-line wrist, KR

120 R2700-2 C01

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Fig. 4-63: Fastening of supplementary load on rotating column/link

arm, KR 120 R2700-2 C01

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Technical data
Supplementary load, KR 120 R2700-2 F

Fig. 4-64: Fastening of supplementary load on arm/in-line wrist, KR

120 R2700-2 F

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Fig. 4-65: Fastening of supplementary load on rotating column/link

arm, KR 120 R2700-2 F

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Technical data
Supplementary load, KR 120 R3100-2

Fig. 4-66: Fastening of supplementary load on arm/in-line wrist, KR

120 R3100-2

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Fig. 4-67: Fastening of supplementary load on rotating column/link

arm, KR 120 R3100-2

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Technical data
Supplementary load, KR 120 R3100-2 F

Fig. 4-68: Fastening of supplementary load on arm/in-line wrist, KR

120 R3100-2 F

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Technical data KR QUANTEC-2

Fig. 4-69: Fastening of supplementary load on rotating column/link

arm, KR 120 R3100-2 F

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Technical data
Supplementary load, KR 150 R2700-2

Fig. 4-70: Fastening of supplementary load on arm/in-line wrist, KR

150 R2700-2

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Technical data KR QUANTEC-2

Fig. 4-71: Fastening of supplementary load on rotating column/link

arm, KR 150 R2700-2

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Technical data
Supplementary load, KR 150 R2700-2 F

Fig. 4-72: Fastening of supplementary load on arm/in-line wrist, KR

150 R2700-2 F

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Technical data KR QUANTEC-2

Fig. 4-73: Fastening of supplementary load on rotating column/link

arm, KR 150 R2700-2 F

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Technical data
Supplementary load, KR 150 R3100-2

Fig. 4-74: Fastening of supplementary load on arm/in-line wrist, KR

150 R3100-2

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Technical data KR QUANTEC-2

Fig. 4-75: Fastening of supplementary load on rotating column/link

arm, KR 150 R3100-2

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Technical data
Supplementary load, KR 150 R3100-2 F

Fig. 4-76: Fastening of supplementary load on arm/in-line wrist, KR

150 R3100-2 F

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Technical data KR QUANTEC-2

Fig. 4-77: Fastening of supplementary load on rotating column/link

arm, KR 150 R3100-2 F

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Technical data
Supplementary load, KR 180 R2900-2

Fig. 4-78: Fastening of supplementary load on arm/in-line wrist, KR

180 R2900-2

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Technical data KR QUANTEC-2

Fig. 4-79: Fastening of supplementary load on rotating column/link

arm, KR 180 R2900-2

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Technical data
Supplementary load, KR 180 R2900-2 F

Fig. 4-80: Fastening of supplementary load on arm/in-line wrist, KR

180 R2900-2 F

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Technical data KR QUANTEC-2

Fig. 4-81: Fastening of supplementary load on rotating column/link

arm, KR 180 R2900-2 F

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Technical data
Supplementary load, KR 210 R2700-2

Fig. 4-82: Fastening of supplementary load on arm/in-line wrist, KR

210 R2700-2

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Technical data KR QUANTEC-2

Fig. 4-83: Fastening of supplementary load on rotating column/link

arm, KR 210 R2700-2

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Technical data
Supplementary load, KR 210 R2700-2 C01

Fig. 4-84: Fastening of supplementary load on arm/in-line wrist, KR

210 R2700-2 C01

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Technical data KR QUANTEC-2

Fig. 4-85: Fastening of supplementary load on rotating column/link

arm, KR 210 R2700-2 C01

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Technical data
Supplementary load, KR 210 R2700-2 F

Fig. 4-86: Fastening of supplementary load on arm/in-line wrist, KR

210 R2700-2 F

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Technical data KR QUANTEC-2

Fig. 4-87: Fastening of supplementary load on rotating column/link

arm, KR 210 R2700-2 F

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Technical data
Supplementary load, KR 210 R3100-2

Fig. 4-88: Fastening of supplementary load on arm/in-line wrist, KR

210 R3100-2

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Technical data KR QUANTEC-2

Fig. 4-89: Fastening of supplementary load on rotating column/link

arm, KR 210 R3100-2

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Technical data
Supplementary load, KR 210 R3100-2 F

Fig. 4-90: Fastening of supplementary load on arm/in-line wrist, KR

210 R3100-2 F

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Technical data KR QUANTEC-2

Fig. 4-91: Fastening of supplementary load on rotating column/link

arm, KR 210 R3100-2 F

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Technical data
Supplementary load, KR 210 R3100-2 C

Fig. 4-92: Fastening of supplementary load on arm/in-line wrist, KR

210 R3100-2 C

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Technical data KR QUANTEC-2

Fig. 4-93: Fastening of supplementary load on rotating column/link

arm, KR 210 R3100-2 C

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Technical data
Supplementary load, KR 240 R2900-2

Fig. 4-94: Fastening of supplementary load on arm/in-line wrist, KR

240 R2900-2

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Technical data KR QUANTEC-2

Fig. 4-95: Fastening of supplementary load on rotating column/link

arm, KR 240 R2900-2

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Technical data
Supplementary load, KR 240 R2900-2 F

Fig. 4-96: Fastening of supplementary load on arm/in-line wrist, KR

240 R2900-2 F

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Technical data KR QUANTEC-2

Fig. 4-97: Fastening of supplementary load on rotating column/link

arm, KR 240 R2900-2 F

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Technical data
Supplementary load, KR 240 R2900-2 C

Fig. 4-98: Fastening of supplementary load on arm/in-line wrist, KR

240 R2900-2 C

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Technical data KR QUANTEC-2

Fig. 4-99: Fastening of supplementary load on rotating column/link

arm, KR 240 R2900-2 C

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Technical data
Supplementary load, KR 250 R2700-2

Fig. 4-100: Fastening of supplementary load on arm/in-line wrist, KR

250 R2700-2

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Technical data KR QUANTEC-2

Fig. 4-101: Fastening of supplementary load on rotating column/link

arm, KR 250 R2700-2

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Technical data
Supplementary load, KR 250 R2700-2 F

Fig. 4-102: Fastening of supplementary load on arm/in-line wrist, KR

250 R2700-2 F

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Technical data KR QUANTEC-2

Fig. 4-103: Fastening of supplementary load on rotating column/link

arm, KR 250 R2700-2 F

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Technical data
Supplementary load, KR 250 R2700-2 C

Fig. 4-104: Fastening of supplementary load on arm/in-line wrist, KR

250 R2700-2 C

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Technical data KR QUANTEC-2

Fig. 4-105: Fastening of supplementary load on rotating column/link

arm, KR 250 R2700-2 C

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Technical data
Supplementary load, KR 300 R2700-2

Fig. 4-106: Fastening of supplementary load on arm/in-line wrist, KR

300 R2700-2

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Technical data KR QUANTEC-2

Fig. 4-107: Fastening of supplementary load on rotating column/link

arm, KR 300 R2700-2

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Technical data
Supplementary load, KR 300 R2700-2 C01

Fig. 4-108: Fastening of supplementary load on arm/in-line wrist, KR

300 R2700-2 C01

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Technical data KR QUANTEC-2

Fig. 4-109: Fastening of supplementary load on rotating column/link

arm, KR 300 R2700-2 C01

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Technical data
Supplementary load, KR 300 R2700-2 F

Fig. 4-110: Fastening of supplementary load on arm/in-line wrist, KR

300 R2700-2 F

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Fig. 4-111: Fastening of supplementary load on rotating column/link

arm, KR 300 R2700-2 F

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Technical data
Supplementary load, KR 300 R2700-2 C

Fig. 4-112: Fastening of supplementary load on arm/in-line wrist, KR

300 R2700-2 C

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Fig. 4-113: Fastening of supplementary load on rotating column/link

arm, KR 300 R2700-2 C

4.4 Foundation loads overview

Depending on the payload (e.g. tool), supplementary load and the robot’s
own mass (weight), the motion of the robot generates forces and torques
which are transmitted to the foundation.

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The specified values refer to rated payloads and do not include any safety

Technical data
factors. The actual forces and torques depend on the motion profile as
well as the mass, load center of gravity and mass moment of inertia of
the payload. It is imperative for the load data to be entered in the robot
controller. The robot controller takes the payload into consideration during
path planning.
Supplementary loads on A1 (rotating column) and A2 (link arm) are not
taken into consideration in the calculation of the foundation load. These
must be taken into account in the vertical force (Fv).
The foundation must be able to permanently withstand the forces and tor-
ques generated during normal operation.
The EMERGENCY STOP values only rarely occur during the service life
of the robot (emergency situations). The frequency depends on the config-
uration of the system.
WARNING
Danger to life and limb due to insufficient stability of the founda-
tion
An incorrectly dimensioned foundation can fracture and fail. Death, se-
vere injuries or damage to property may result.
• Calculate the foundation loads for each individual case.
• Use the specified installation equipment.

Illustration, standard

Fig. 4-114: Foundation loads

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Illustration, ceiling-mounted robot

Fig. 4-115: Foundation loads

Vertical force F(v)

Vertical force F(v)

Vertical force (normal) Vertical force (maximum)
Designation: KR 120 R2700-2
18164 N 24033 N
Designation: KR 120 R2700-2 C01
18164 N 24033 N
Designation: KR 120 R2700-2 F
18164 N 24033 N
Designation: KR 120 R3100-2
18164 N 24033 N
Designation: KR 120 R3100-2 F
18164 N 24033 N
Designation: KR 150 R2700-2
18164 N 24033 N
Designation: KR 210 R2700-2 C01
18164 N 24033 N
Designation: KR 150 R2700-2 F
18164 N 24033 N
Designation: KR 150 R3100-2
18164 N 24033 N
Designation: KR 150 R3100-2 F
18164 N 24033 N
Designation: KR 180 R2900-2
18164 N 24033 N
Designation: KR 180 R2900-2 F

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Technical data
Vertical force F(v)
Vertical force (normal) Vertical force (maximum)
18164 N 24033 N
Designation: KR 210 R2700-2
18164 N 24033 N
Designation: KR 210 R2700-2 F
18164 N 24033 N
Designation: KR 210 R3100-2
18164 N 24033 N
Designation: KR 210 R3100-2 F
18164 N 24033 N
Designation: KR 210 R3100-2 C
17000 N 24900 N
Designation: KR 240 R2900-2
18164 N 24033 N
Designation: KR 240 R2900-2 F
18164 N 24033 N
Designation: KR 240 R2900-2 C
17000 N 24900 N
Designation: KR 250 R2700-2
18164 N 24033 N
Designation: KR 250 R2700-2 F
18164 N 24033 N
Designation: KR 250 R2700-2 C
17000 N 24900 N
Designation: KR 300 R2700-2
18164 N 24033 N
Designation: KR 300 R2700-2 C01
18164 N 24033 N
Designation: KR 300 R2700-2 F
18164 N 24033 N
Designation: KR 300 R2700-2 C
17000 N 24900 N

Horizontal force F(h)

Horizontal force F(h)

Horizontal force (normal) Horizontal force (maximum)
Designation: KR 120 R2700-2
7626 N 20063 N
Designation: KR 120 R2700-2 C01
7626 N 20063 N
Designation: KR 120 R2700-2 F
7626 N 20063 N

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Horizontal force F(h)

Horizontal force (normal) Horizontal force (maximum)
Designation: KR 120 R3100-2
7626 N 20063 N
Designation: KR 120 R3100-2 F
7626 N 20063 N
Designation: KR 150 R2700-2
7626 N 20063 N
Designation: KR 150 R2700-2 F
7626 N 20063 N
Designation: KR 150 R3100-2
7626 N 20063 N
Designation: KR 150 R3100-2 F
7626 N 20063 N
Designation: KR 180 R2900-2
7626 N 20063 N
Designation: KR 180 R2900-2 F
7626 N 20063 N
Designation: KR 210 R2700-2
7626 N 20063 N
Designation: KR 210 R2700-2 C01
7626 N 20063 N
Designation: KR 210 R2700-2 F
7626 N 20063 N
Designation: KR 210 R3100-2
7626 N 20063 N
Designation: KR 210 R3100-2 F
7626 N 20063 N
Designation: KR 210 R3100-2 C
8600 N 20600 N
Designation: KR 240 R2900-2
7626 N 20063 N
Designation: KR 240 R2900-2 F
7626 N 20063 N
Designation: KR 240 R2900-2 C
8600 N 20600 N
Designation: KR 250 R2700-2
7626 N 20063 N
Designation: KR 250 R2700-2 F
7626 N 20063 N
Designation: KR 250 R2700-2 C
8600 N 20600 N
Designation: KR 300 R2700-2

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Technical data
Horizontal force F(h)
Horizontal force (normal) Horizontal force (maximum)
7626 N 20063 N
Designation: KR 300 R2700-2 C01
7626 N 20063 N
Designation: KR 300 R2700-2 F
7626 N 20063 N
Designation: KR 300 R2700-2 C
8600 N 20600 N

Tilting torque M(k)

Tilting moment M(k)

Tilting moment (normal) Tilting moment (maximum)
Designation: KR 120 R2700-2
22790 Nm 38237 Nm
Designation: KR 120 R2700-2 C01
22790 Nm 38237 Nm
Designation: KR 120 R2700-2 F
22790 Nm 38237 Nm
Designation: KR 120 R3100-2
22790 Nm 38237 Nm
Designation: KR 120 R3100-2 F
22790 Nm 38237 Nm
Designation: KR 150 R2700-2
22790 Nm 38237 Nm
Designation: KR 150 R2700-2 F
22790 Nm 38237 Nm
Designation: KR 150 R3100-2
22790 Nm 38237 Nm
Designation: KR 150 R3100-2 F
22790 Nm 38237 Nm
Designation: KR 180 R2900-2
22790 Nm 38237 Nm
Designation: KR 180 R2900-2 F
22790 Nm 38237 Nm
Designation: KR 210 R2700-2
22790 Nm 38237 Nm
Designation: KR 210 R2700-2 C01
22790 Nm 38237 Nm
Designation: KR 210 R2700-2 F
22790 Nm 38237 Nm
Designation: KR 210 R3100-2
22790 Nm 38237 Nm

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Tilting moment M(k)

Tilting moment (normal) Tilting moment (maximum)
Designation: KR 210 R3100-2 F
22790 Nm 38237 Nm
Designation: KR 210 R3100-2 C
19800 Nm 43200 Nm
Designation: KR 240 R2900-2
22790 Nm 38237 Nm
Designation: KR 240 R2900-2 F
22790 Nm 38237 Nm
Designation: KR 240 R2900-2 C
19800 Nm 43200 Nm
Designation: KR 250 R2700-2
22790 Nm 38237 Nm
Designation: KR 250 R2700-2 F
22790 Nm 38237 Nm
Designation: KR 250 R2700-2 C
19800 Nm 43200 Nm
Designation: KR 300 R2700-2
22790 Nm 38237 Nm
Designation: KR 300 R2700-2 C01
22790 Nm 38237 Nm
Designation: KR 300 R2700-2 F
22790 Nm 38237 Nm
Designation: KR 300 R2700-2 C
19800 Nm 43200 Nm

Torque M(r)

Torque about axis 1 M(r)

Torque about axis 1 (normal) Torque about axis 1 (maximum)
KR 120 R2700-2
7817 Nm 17833 Nm
KR 120 R2700-2 C01
7817 Nm 17833 Nm
KR 120 R2700-2 F
7817 Nm 17833 Nm
KR 120 R3100-2
7817 Nm 17833 Nm
KR 120 R3100-2 F
7817 Nm 17833 Nm
KR 150 R2700-2
7817 Nm 17833 Nm
KR 150 R2700-2 F

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Technical data
Torque about axis 1 M(r)
Torque about axis 1 (normal) Torque about axis 1 (maximum)
7817 Nm 17833 Nm
KR 150 R3100-2
7817 Nm 17833 Nm
KR 150 R3100-2 F
7817 Nm 17833 Nm
KR 180 R2900-2
7817 Nm 17833 Nm
KR 180 R2900-2 F
7817 Nm 17833 Nm
KR 210 R2700-2
7817 Nm 17833 Nm
KR 210 R2700-2 C01
7817 Nm 17833 Nm
KR 210 R2700-2 F
7817 Nm 17833 Nm
KR 210 R3100-2
7817 Nm 17833 Nm
KR 210 R3100-2 F
7817 Nm 17833 Nm
KR 210 R3100-2 C
8000 Nm 17300 Nm
KR 240 R2900-2
7817 Nm 17833 Nm
KR 240 R2900-2 F
7817 Nm 17833 Nm
KR 240 R2900-2 C
8000 Nm 17300 Nm
KR 250 R2700-2
7817 Nm 17833 Nm
KR 250 R2700-2 F
7817 Nm 17833 Nm
KR 250 R2700-2 C
8000 Nm 17300 Nm
KR 300 R2700-2
7817 Nm 17833 Nm
KR 300 R2700-2 C01
7817 Nm 17833 Nm
KR 300 R2700-2 F
7817 Nm 17833 Nm
KR 300 R2700-2 C
8000 Nm 17300 Nm

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4.5 Plates and labels

Plates and labels

The following plates and labels (>>> Fig. 4-116) are attached to the robot.
They must not be removed or rendered illegible. Illegible plates and labels
must be replaced.

Fig. 4-116: Location of plates and labels

Item Description
1

Hot surface
During operation of the robot, surface temperatures may be
reached that could result in burn injuries. Protective gloves must
be worn!

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Technical data
2

Secure the axes

Before exchanging any motor, secure the corresponding axis
through safeguarding by suitable means/devices to protect
against possible movement. The axis can move. Risk of crush-
ing!
3

Identification plate example

Content according to Machinery Directive.
The QR code contains a link to product information in KUKA
Xpert.
4

Transport position
Before loosening the bolts of the mounting base, the robot must
be in the transport position as indicated in the table. Risk of
toppling!

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Danger zone
Entering the danger zone of the robot is prohibited if the robot
is in operation or ready for operation. Risk of injury!
6

Counterbalancing system
The system is pressurized with oil and nitrogen. Read and fol-
low the assembly and operating instructions before commencing
work on the counterbalancing system. Risk of injury!

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Technical data
7

Work on the robot

Before start-up, transportation or maintenance, read and follow
the assembly and operating instructions.
8

Example of identification plate for Foundry

Content according to Machinery Directive.
For Foundry only

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Mounting flange on robot wrist type IW210

The values specified on this plate apply for the installation of
tools on the mounting flange of the wrist and must be observed.

Mounting flange on robot wrist type IW300

The values specified on this plate apply for the installation of
tools on the mounting flange of the wrist and must be observed.

4.6 REACH duty to communicate information acc. to Art. 33

As of June 2007, the Regulation (EC) 1907/2006 of the European Parlia-

ment and of the Council dated 18 December 2006 on the registration,
evaluation and authorization of chemicals (REACH Regulation) is in force.
Detailed REACH information can be found under the information type
Product > Product information in KUKA Xpert.

4.7 Stopping distances and times

4.7.1 General information

Information concerning the data:

• The data are given for the main axes A1, A2 and A3. The main axes
are the axes with the greatest deflection.
• Superposed axis motions can result in longer stopping distances.
• Stopping distances and stopping times in accordance with DIN EN
ISO 10218-1, Annex B.
• Stop categories:
‒ Stop category 0 » STOP 0
‒ Stop category 1 » STOP 1
according to IEC 60204-1

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Technical data
• The values specified for Stop 0 are guide values determined by
means of tests and simulation. They are average values which con-
form to the requirements of DIN EN ISO 10218-1. The actual stopping
distances and stopping times may differ due to internal and external
influences on the braking torque. It is therefore advisable to determine
the exact stopping distances and stopping times where necessary un-
der the real conditions of the actual robot application.
• Measurement method
The stopping distances were measured using the robot-internal meas-
urement method.
• The wear on the brakes varies depending on the operating mode, ro-
bot application and the number of STOP 0 stops triggered. It is there-
fore advisable to check the stopping distance at least once a year.

Determination of stopping distances and times with KR C4

• The stopping distance is the angle traveled by the robot from the mo-
ment the stop signal is triggered until the robot comes to a complete
standstill.
• The stopping time is the time that elapses from the moment the stop
signal is triggered until the robot comes to a complete standstill.

Measurement method for determining the STOP 0 stopping distances and stopping
times according to ISO 10218-1 with KR C5

Motion sequence

• Measurement with single-axis motion (A1, A2 and A3 respectively)

• Axes that are not moved are positioned in such a way that the maxi-
mum distance of the load center of gravity from the moved axis is
reached.
• Use the maximum motion radius of the axis to achieve as high a ve-
locity as possible.
• Trigger point at maximum velocity
Measurement method

1. A safe operational stop is activated at the trigger point; this causes a

STOP 0 to be triggered if the robot is moving.
Start recording with trace functionality.
2. Brakes are closed.
Brake closes (WDI motor status bit 2) is used as the start time of the
measurement.
3. The axis comes to a standstill.
Standstill is used as the end time of the measurement.
As an approximation, it is also possible to carry out the measurement by
means of a STOPMESS interrupt program in which the stopping distance
results from the difference between the position at the trigger point ($AX-
IS_INT) and the position at standstill.
Information concerning the data

• The stopping distance is the angle covered by the axis from the
Brake closes signal (WDI motor status bit 2) to complete standstill.
• The stopping time is the time that elapses from the Brake closes sig-
nal (WDI motor status bit 2) until the robot comes to a complete
standstill.

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4.7.2 Stopping distances and times, KR 120 R2700-2, KR 120 R2700-2 C01
and KR 120 R2700-2 F

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 41.21 °
A2 20.02 °
A3 22.99 °
Stopping time
A1 0.65 s
A2 0.38 s
A3 0.33 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-117: Stopping distances for STOP 1, axis 1

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Fig. 4-118: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-119: Stopping distances for STOP 1, axis 2

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Fig. 4-120: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-121: Stopping distances for STOP 1, axis 3

Fig. 4-122: Stopping times for STOP 1, axis 3

4.7.3 Stopping distances and times, KR 120 R3100-2 and KR 120 R3100-2 F

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 45.57 °
A2 19.95 °
A3 20.31 °

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Stopping time
A1 0.77 s
A2 0.46 s
A3 0.35 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-123: Stopping distances for STOP 1, axis 1

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Fig. 4-124: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-125: Stopping distances for STOP 1, axis 2

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Fig. 4-126: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-127: Stopping distances for STOP 1, axis 3

Fig. 4-128: Stopping times for STOP 1, axis 3

4.7.4 Stopping distances and times, KR 150 R2700-2 and KR 150 R2700-2 F

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 42.27 °
A2 20.58 °
A3 20.79 °

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Stopping time
A1 0.68 s
A2 0.43 s
A3 0.36 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-129: Stopping distances for STOP 1, axis 1

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Fig. 4-130: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-131: Stopping distances for STOP 1, axis 2

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Fig. 4-132: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-133: Stopping distances for STOP 1, axis 3

Fig. 4-134: Stopping times for STOP 1, axis 3

4.7.5 Stopping distances and times, KR 150 R3100-2 and KR 150 R3100-2 F

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 41.52 °
A2 18.28 °
A3 14.86 °

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Stopping time
A1 0.72 s
A2 0.46 s
A3 0.30 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-135: Stopping distances for STOP 1, axis 1

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Fig. 4-136: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-137: Stopping distances for STOP 1, axis 2

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Fig. 4-138: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-139: Stopping distances for STOP 1, axis 3

Fig. 4-140: Stopping times for STOP 1, axis 3

4.7.6 Stopping distances and times, KR 180 R2900-2 and KR 180 R2900-2 F

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 40.86 °
A2 18.16 °
A3 16.52 °

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Stopping time
A1 0.74 s
A2 0.42 s
A3 0.31 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-141: Stopping distances for STOP 1, axis 1

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Fig. 4-142: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-143: Stopping distances for STOP 1, axis 2

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Fig. 4-144: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-145: Stopping distances for STOP 1, axis 3

Fig. 4-146: Stopping times for STOP 1, axis 3

4.7.7 Stopping distances and times, KR 210 R2700-2, KR 210 R2700-2 C01
and KR 210 R2700-2 F

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 43.00 °
A2 20.45 °

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A3 16.54 °
Stopping time
A1 0.77 s
A2 0.49 s
A3 0.38 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-147: Stopping distances for STOP 1, axis 1

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Fig. 4-148: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-149: Stopping distances for STOP 1, axis 2

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Fig. 4-150: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-151: Stopping distances for STOP 1, axis 3

Fig. 4-152: Stopping times for STOP 1, axis 3

4.7.8 Stopping distances and times, KR 210 R3100-2, KR 210 R3100-2 F and
KR 210 R3100-2 C

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 32.39 °
A2 16.74 °

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A3 16.27 °
Stopping time
A1 0.70 s
A2 0.44 s
A3 0.35 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-153: Stopping distances for STOP 1, axis 1

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Fig. 4-154: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-155: Stopping distances for STOP 1, axis 2

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Fig. 4-156: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-157: Stopping distances for STOP 1, axis 3

Fig. 4-158: Stopping times for STOP 1, axis 3

4.7.9 Stopping distances and times, KR 240 R2900-2, KR 240 R2900-2 F and
KR 240 R2900-2 C

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 32.41 °
A2 16.20 °

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A3 17.04 °
Stopping time
A1 0.66 s
A2 0.43 s
A3 0.37 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-159: Stopping distances for STOP 1, axis 1

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Fig. 4-160: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-161: Stopping distances for STOP 1, axis 2

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Fig. 4-162: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-163: Stopping distances for STOP 1, axis 3

Fig. 4-164: Stopping times for STOP 1, axis 3

4.7.10 Stopping distances and times, KR 250 R2700-2, KR 250 R2700-2 F and
KR 250 R2700-2 C

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 34.49 °
A2 14.81 °

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A3 20.42 °
Stopping time
A1 0.67 s
A2 0.42 s
A3 0.38 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-165: Stopping distances for STOP 1, axis 1

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Fig. 4-166: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-167: Stopping distances for STOP 1, axis 2

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Fig. 4-168: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-169: Stopping distances for STOP 1, axis 3

Fig. 4-170: Stopping times for STOP 1, axis 3

4.7.11 Stopping distances and times, KR 300 R2700-2, KR 300 R2700-2 C01,
KR 300 R2700-2 F und KR 300 R2700-2 C

[Link] Stopping distances and stopping times, STOP 0, A1 to A3

The values for stop category 0 when a STOP 0 is triggered refer to the
following configuration:
• Extension l = 100%
• Program override POV = 100%
• Mass m = rated payload

Stopping distance
A1 32.24 °
A2 14.85 °

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A3 17.46 °
Stopping time
A1 0.67 s
A2 0.38 s
A3 0.38 s

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[Link] Stopping distances and stopping times, STOP 1, A1

Technical data

Fig. 4-171: Stopping distances for STOP 1, axis 1

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Fig. 4-172: Stopping times for STOP 1, axis 1

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[Link] Stopping distances and stopping times, STOP 1, A2

Technical data

Fig. 4-173: Stopping distances for STOP 1, axis 2

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Fig. 4-174: Stopping times for STOP 1, axis 2

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[Link] Stopping distances and stopping times, STOP 1, A3

Technical data
Fig. 4-175: Stopping distances for STOP 1, axis 3

Fig. 4-176: Stopping times for STOP 1, axis 3

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Planning
5 Planning

5.1 Information for planning

In the planning and design phase, care must be taken regarding the func-
tions or applications to be executed by the kinematic system. The follow-
ing conditions can lead to premature wear. They necessitate shorter main-
tenance intervals and/or earlier exchange of components. In addition, the
permissible operating parameters specified in the technical data must be
taken into account and observed during planning.
• Continuous operation near temperature limits
• Continuous operation in abrasive environments
• Continuous operation close to the performance limits, e.g. high rpm of
an axis
• Start of operation at maximum power from cold, e.g. after an idle peri-
od
• High duty cycle of individual axes
• Monotonous motion profiles, e.g. short, frequently recurring axis mo-
tions
• Static axis positions, e.g. continuous vertical position of a wrist axis
• External forces (process forces) acting on the robot
If one or more of these conditions are to apply during operation of the kin-
ematic system, KUKA Service must be consulted.
If the robot reaches its corresponding operation limit or if it is operated
near the limit for a period of time, the built-in monitoring functions come
into effect and the robot is automatically switched off.
This protective function can limit the availability of the robot system.

5.2 Mounting base with centering

Description

Designation Article number Weight

Mounting base set S780 0000-327-118 approx. 58.5 kg
The mounting base with centering is used when the kinematic system is
fastened to the floor, i.e. directly on a concrete foundation.
The mounting base with centering consists of:
• Bedplates
• Chemical anchors
• Fastening elements
This mounting variant requires a level and smooth surface on a concrete
foundation with adequate load bearing capacity. The concrete foundation
must be able to accommodate the forces occurring during operation.
There must be no layers of insulation or screed between the bedplates
and the concrete foundation.
The minimum dimensions must be observed.

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Fig. 5-1: Mounting base

1 Bedplate (4x)
2 Locating pin, cylindrical
3 M24x65-8.8-A2K hexagon bolt with conical spring washer (8x)
4 Chemical anchor (12x)
5 M20 tapped hole for leveling screws (4x)
6 Locating pin, flat-sided

Grade of concrete for foundations

When producing concrete foundations, the load-bearing capacity of the

ground and the country-specific construction regulations must be ob-
served. There must be no layers of insulation or screed between the bed-
plate/bedplates and the concrete foundation. The quality of the concrete
must meet the requirements of the following standard:
• C20/25 according to EN 206

WARNING
Danger to life and limb due to incorrect mounting
If not mounted correctly, the kinematic system may topple over or fall
down. Death, severe injury or damage to property may result.
• Only install the kinematic system using the mounting base or ma-
chine frame mounting.
• The stability must be ensured by the integrator or start-up techni-
cian.

Dimensioned drawing

The following illustration (>>> Fig. 5-2) provides all the necessary informa-
tion on the mounting base, together with the required foundation data. The
specified foundation dimensions refer to the safe transmission of the foun-
dation loads into the foundation and not to the stability of the foundation.

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Planning
Fig. 5-2: Mounting base, dimensioned drawing

1 Chemical anchor (12x)

2 M24x65-8.8-A2K hexagon bolt (8x)
3 Locating pin, cylindrical
4 Locating pin, flat-sided
To ensure that the anchor forces are reliably transferred to the foundation,
observe the dimensions for concrete foundations specified in the following
figure.

Fig. 5-3: Foundation cross-section

1 Locating pin 4 Chemical anchors

2 Hexagon bolt with lock wash- 5 Concrete foundation
er
3 Bedplate

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B Concrete grade A
Min. concrete thick- Min. distance to
ness edge
in mm in mm
180 Without edge reinforcement 360
With edge reinforcement ≥Ø12 290
With edge reinforcement ≥Ø12 and stirrup re- 245
inforcement at a distance of ≤100 mm
200 Without edge reinforcement 340
With edge reinforcement ≥Ø12 275
With edge reinforcement ≥Ø12 and stirrup re- 230
inforcement at a distance of ≤100 mm
250 Without edge reinforcement 300
With edge reinforcement ≥Ø12 240
With edge reinforcement ≥Ø12 and stirrup re- 200
inforcement at a distance of ≤100 mm

5.3 Mounting base 150 mm (optional)

Description

Designation Article number Weight

Mounting base S780 0000-338-338 approx. 261 kg
The mounting base with centering is used when the kinematic system is
fastened to the floor, i.e. directly on a concrete foundation.
The mounting base with centering consists of:
• Bedplate
• Chemical anchors
• Fastening elements
This mounting variant requires a level and smooth surface on a concrete
foundation with adequate load bearing capacity. The concrete foundation
must be able to accommodate the forces occurring during operation.
There must be no layers of insulation or screed between the bedplate and
the concrete foundation.
The minimum dimensions must be observed.

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Planning
Fig. 5-4: Mounting base

1 Bedplate
2 Locating pin, cylindrical
3 M24x65-8.8-A2K hexagon bolt with conical spring washer (8x)
4 Chemical anchor (16x)
5 Locating pin, flat-sided
6 Orientation notch, zero position

Grade of concrete for foundations

When producing concrete foundations, the load-bearing capacity of the

ground and the country-specific construction regulations must be ob-
served. There must be no layers of insulation or screed between the bed-
plate/bedplates and the concrete foundation. The quality of the concrete
must meet the requirements of the following standard:
• C20/25 according to EN 206

WARNING
Danger to life and limb due to incorrect mounting
If not mounted correctly, the kinematic system may topple over or fall
down. Death, severe injury or damage to property may result.
• Only install the kinematic system using the mounting base or ma-
chine frame mounting.
• The stability must be ensured by the integrator or start-up techni-
cian.

Dimensioned drawing

The following illustration (>>> Fig. 5-5) provides all the necessary informa-
tion on the mounting base, together with the required foundation data. The
specified foundation dimensions refer to the safe transmission of the foun-
dation loads into the foundation and not to the stability of the foundation.

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Fig. 5-5: Mounting base, dimensioned drawing

1 Chemical anchor (16x)

2 M24x65-8.8-A2K hexagon bolt (8x)
3 Locating pin, cylindrical
4 Locating pin, flat-sided
To ensure that the anchor forces are reliably transferred to the foundation,
observe the dimensions for concrete foundations specified in the following
figure.

Fig. 5-6: Foundation cross-section

1 Chemical anchor (16x)

2 Bedplate

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Planning
3 Concrete foundation

Min. concrete thick- Concrete grade A

ness Min. distance to
in mm edge
in mm
150 Without edge reinforcement 365
With edge reinforcement ≥Ø12 290
With edge reinforcement ≥Ø12 and stirrup re- 235
inforcement at a distance of ≤100 mm

5.4 Machine frame mounting

Description

Designation Article number Weight

Machine frame mounting 0000-310-641 approx. 3.52 kg
The machine frame mounting assembly is used when the robot is fas-
tened on a steel structure, a booster frame (pedestal) or a KUKA linear
unit. This assembly is also used if the robot is installed on the ceiling. It
must be ensured that the substructure is able to withstand safely the
forces occurring during operation (foundation loads). The following dia-
gram contains all the necessary information that must be observed when
preparing the mounting surface (>>> Fig. 5-7).
The machine frame mounting assembly consists of:
• Locating pins
• Hexagon bolts with conical spring washers

Fig. 5-7: Machine frame mounting

1 M24x65-8.8-A2K hexagon bolt (8x)

2 Locating pin, cylindrical
3 Locating pin, flat-sided

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WARNING
Danger to life and limb due to incorrect mounting
If not mounted correctly, the kinematic system may topple over or fall
down. Death, severe injury or damage to property may result.
• Only install the kinematic system using the mounting base or ma-
chine frame mounting.
• The stability must be ensured by the integrator or start-up techni-
cian.

Dimensioned drawing

The following illustration (>>> Fig. 5-8) provides all the necessary informa-
tion on machine frame mounting, together with the required foundation da-
ta.

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Planning
Fig. 5-8: Machine frame mounting, dimensioned drawing

1 Locating pin, cylindrical 3 Mounting surface

2 M24x65-8.8-A2K hexagon bolt 4 Locating pin, flat-sided
(8x)

5.5 Connecting cables and interfaces

Connecting cables

The connecting cables comprise all the cables for transferring energy and
data between the robot and the robot controller. They are connected on
the robot side with connectors at interface A1.
Cable lengths of 7 m, 10 m, 15 m, 20 m, 25 m, 30 m, 35 m and 50 m
are available as standard. The maximum length of the connecting cables
must not exceed 50 m. The maximum number of connectors is 1, i.e. a
maximum of 2 connecting cables may be combined with each other. Thus

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if the robot is operated on a linear unit which has its own cable carrier,
Planning

this cable must also be taken into account.

For the connecting cables, an additional ground conductor is always re-
quired to provide a low-resistance connection between the robot and the
control cabinet in accordance with DIN EN 60204. The connection is es-
tablished using ring cable lugs. The threaded bolts for connecting the two
ground conductors are located on the base frame of the robot.
The following points must be observed when planning and routing the
connecting cables:
• The bending radius for fixed routing must not be less than 150 mm for
motor cables and 60 mm for data cables.
• Protect cables against exposure to mechanical stress.
• Route the cables without mechanical stress – no tensile forces on the
connectors.
• Cables are only to be installed indoors.
• Observe the permissible temperature range (fixed installation) of
263 K (-10 °C) to 343 K (+55 °C).
• Route the motor cables and the data cables separately in metal ducts.
If necessary, take additional measures to ensure electromagnetic com-
patibility (EMC).

CAUTION
Risk of injury due to tripping hazards
Improper installation of cables can cause tripping hazards. Injuries or
damage to property may result.
• The connecting cables must be installed in such a way (e.g. cable
ducts) as to prevent tripping hazards.
• Potential tripping hazards must be marked accordingly.

Interface A1

Interface A1 is located at the rear of the base frame.

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Planning
Fig. 5-9: Interface A1

1 Data cable X31 4 Ground conductor (2x)

2 Purging air (for Foundry only) 5 External axis XP8.1
3 Motor cable X30 6 External axis XP7.1

Interface for energy supply system

The robot can be equipped with an energy supply system between axis 1
and axis 2 and a second energy supply system between axis 3 and axis
6. The A1 interface required for this is located on the rear of the base
frame, the A3 interface is located on the side of the arm and the interface
for axis 6 is located on the robot tool. Depending on the application, the
interfaces differ in design and scope. They can be equipped, for example,
with connections for cables and hoses. Detailed information on the con-
nector pin allocation, threaded unions, etc. is given in separate documen-
tation.

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Transportation
6 Transportation

6.1 Transporting the robot

Description

Move the robot into its transport position each time it is transported. It
must be ensured that the robot is stable while it is being transported. The
robot must remain in its transport position until it has been fastened in po-
sition. Before the robot is lifted, it must be ensured that it is free from ob-
structions. Remove all transport safeguards, such as nails and screws, in
advance. First remove any rust or adhesive on contact surfaces.
Avoid vibrations and impacts during transportation in order to prevent
damage to the manipulator.

Transport position

The robot must be in the transport position before it can be transported.

The robot is in the transport position when the axes are in the following
positions:
Transport position
A1 0 °
A2 -137 °
A3 160 °
A4 0 °
A5 -105 °
A6 0 °

Fig. 6-1: Transport position

Transport dimensions

The transportation dimensions (>>> Fig. 6-2) for the robot can be noted
from the following diagram. The position of the center of gravity and the
weight vary according to the specific configuration and the position of

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axes 2 and 3. The specified dimensions refer to the robot without equip-
Transportation

ment.

Fig. 6-2: Transport dimensions

1 Center of gravity
2 Fork slots
Transport dimensions and centers of gravity in mm:
Robot A B C D E SX SY SZ
KR 120 R2700-2 1785 1614 825 555 530 -17 -62 763
KR 120 R2700-2
C01
KR 120 R2700-2
F
KR 120 R3100-2 1921 1798 972 555 530 -42 -65 811
KR 120 R3100-2
F
KR 150 R2700-2 1785 1614 825 555 530 -17 -62 763
KR 150 R2700-2
F
KR 150 R3100-2 1921 1798 972 555 530 -42 -65 811
KR 150 R3100-2
F
KR 180 R2900-2 1921 1614 970 555 530 -65 -65 813
KR 180 R2900-2
F

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Transportation
Robot A B C D E SX SY SZ
KR 210 R2700-2 1785 1614 825 555 530 -17 -62 763
KR 210 R2700-2
C01
KR 210 R2700-2
F
KR 210 R3100-2 1921 1798 972 555 530 -41 -64 811
KR 210 R3100-2
F
KR 210 R3100-2
C
KR 240 R2900-2 1921 1614 970 555 530 -65 -65 813
KR 240 R2900-2
F
KR 240 R2900-2
C
KR 250 R2700-2 1785 1614 825 555 530 -15 -61 763
KR 250 R2700-2
F
KR 250 R2700-2
C
KR 300 R2700-2 1785 1614 825 555 530 -15 -61 763
KR 300 R2700-2
C01
KR 300 R2700-2
F
KR 300 R2700-2
C

Transportation

The robot can be transported by fork lift truck or using lifting tackle (op-
tional).
WARNING
Danger to life and limb due to non-authorized handling equipment
If unsuitable handling equipment is used, the robot may topple or be
damaged during transportation. Death, severe injuries or damage to
property may result.
• Only use authorized handling equipment with a sufficient load-bear-
ing capacity.
• Only transport the robot in the manner specified here.

Transportation by fork lift truck

For transport by fork lift truck (>>> Fig. 6-3), four fork slots are mounted
on the base frame. The robot can be picked up by the fork lift truck from
the front and rear. The base frame must not be damaged when inserting
the forks into the fork slots. The fork lift truck must have a minimum pay-
load capacity of 2.0 t and an adequate fork length.
Ceiling-mounted robots can only be picked up by a fork lift truck.

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NOTICE
Damage to property due to overloading of the fork slots
Overloading the fork slots during transportation can cause damage to
property.
• Avoid overloading the fork slots through undue inward or outward
movement of hydraulically adjustable forks of the fork lift truck.

Fig. 6-3: Transportation by fork lift truck

Transportation with lifting tackle (optional)

Designation Article number Weight

Lifting tackle 0000-342-903 approx. 6.8 kg
The robot can also be transported using a crane and lifting tackle (option-
al) (>>> Fig. 6-4). For this, it must be in the transport position. The lifting
tackle (optional) is attached to the 2 front fork slots and the rotating col-
umn. All the legs must be routed as shown in the following illustration so
that the robot is not damaged. Installed tools and items of equipment can
cause undesirable shifts in the center of gravity. Items of equipment, espe-
cially energy supply systems, must be removed to the extent necessary to
avoid them being damaged by the legs of the lifting tackle during transpor-
tation.

Fig. 6-4: Transportation using lifting tackle

1 Lifting tackle assembly

2 Leg G1
3 Leg G3
4 Fork slot

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Transportation
5 Attachment point for swivel
6 Leg G2
All the legs are labeled. Leg G3 is provided with an adjustable chain
which must be adjusted so that the robot is suspended vertically from the
crane. If necessary, the robot must be set down again and the chain read-
justed. Leg G3 must be slipped around the mount for the
counterbalancing system on the rotating column. It must not subject the
adjacent counterbalancing system to any load. The returning strap of leg
G3 must be placed next to the cable set support bracket as depicted.

Fig. 6-5: Lifting tackle, leg G3

1 Chain
2 Leg G3
3 Cable set support bracket
4 Counterbalancing system
5 Counterbalancing system mount on rotating column

WARNING
Risk of injury during transportation
The robot may tip during transportation. Death, severe injuries or dam-
age to property may result.
• When transporting the robot using lifting tackle (optional) / rope
sling, care must be exercised to prevent it from tipping.
• If necessary, additional safeguarding measures must be taken.
• It is forbidden to pick up the robot in any other way using a crane!

Transport safeguard

A transport safeguard is available if the robot is transported by truck, for

example. The robot can be tied down by means of a lashing strap. Care
must be taken to position the lashing belt over the transport safeguard.
The lashing belt must not be placed over the motor or other robot compo-
nents and thus subjected to a load. Damage to property may otherwise
result.
The transport safeguard and fork slots can be removed for operation.

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Fig. 6-6: Transport safeguard

1 Transport safeguard
with M16x50-8.8-A2K Allen screw and conical spring washer
2 Fork slot (4x)
with 2x M16x50-8.8-A2K Allen screw and conical spring washer
each

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Appendix
7 Appendix

7.1 Applied standards and regulations

Name/Edition Definition

2006/42/EC Machinery Directive:

Directive 2006/42/EC of the European Parliament and of the Coun-
cil of 17 May 2006 on machinery, and amending Directive 95/16/EC
(recast)

2014/30/EU EMC Directive:

Directive 2014/30/EU of the European Parliament and of the Coun-
cil dated 26 February 2014 on the approximation of the laws of the
Member States concerning electromagnetic compatibility

2014/68/EU Pressure Equipment Directive:

Directive 2014/68/EU of the European Parliament and of the Coun-
cil dated 15 May 2014 on the approximation of the laws of the
Member States concerning pressure equipment
(Only applicable for robots with hydropneumatic counterbalancing
system.)

ANSI/RIA R15.06-2012 Industrial Robots and Robot System

EN 60204-1:2018 Safety of machinery:

Electrical equipment of machines – Part 1: General requirements

EN 61000-6-2:2005 Electromagnetic compatibility (EMC):

Part 6-2: Generic standards; Immunity for industrial environments

EN 61000-6-4:2007 + Electromagnetic compatibility (EMC):

A1:2011
Part 6-4: Generic standards; Emission standard for industrial envi-
ronments

EN 614-1:2006+A1:2009 Safety of machinery:

Ergonomic design principles - Part 1: Terms and general principles

EN IEC 61000-6-2:2019 Electromagnetic compatibility (EMC):

Part 6-2: Generic standards – Immunity for industrial environments

EN IEC 61000-6-4:2019 Electromagnetic compatibility (EMC):

Part 6-4: Generic standards; Emission standard for industrial envi-
ronments

EN ISO 10218-1:2011 Robots and robotic devices – Safety requirements for industri-
al robots:
Part 1: Robots

EN ISO 12100:2010 Safety of machinery:

General principles of design, risk assessment and risk reduction

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Appendix KR QUANTEC-2

EN ISO 13849-1:2015 Safety of machinery:

Safety-related parts of control systems – Part 1: General principles
of design

EN ISO 13849-2:2012 Safety of machinery:

Safety-related parts of control systems - Part 2: Validation

EN ISO 13850:2015 Safety of machinery:

Emergency stop - Principles for design

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KUKA Service
8 KUKA Service

8.1 Requesting support

Introduction

This documentation provides information on operation and control and

supports you during troubleshooting. For further support, please contact
your local subsidiary.

Information

The following information is required for processing a support re-

quest:
• Description of the problem including information on the duration and
frequency of the fault
• The greatest possible amount of information about the hardware and
software components of the overall system
The following list gives an indication of the information which is rele-
vant in many cases:
‒ Model and serial number of the kinematic system, e.g. the manip-
ulator
‒ Model and serial number of the controller
‒ Model and serial number of the energy supply system
‒ Designation and version of the system software
‒ Designations and versions of other software components or modifi-
cations
‒ System software diagnosis package
Additionally for KUKA Sunrise: Existing projects including applica-
tions
For versions of KUKA System Software older than V8: Archive of
the software (Diagnosis package is not yet available here.)
‒ Application used
‒ External axes used

8.2 KUKA Customer Support

The contact details of the local subsidiaries can be found at:

[Link]/customer-service-contacts

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Index EMC Directive........................................ 20, 243

EMD.................................................................. 9
2006/42/EC................................................... 243
EN 60204-1:2018......................................... 243
2014/30/EU................................................... 243
EN 61000-6-2:2005...................................... 243
2014/68/EU................................................... 243
EN 61000-6-4:2007 + A1:2011.................... 243
95/16/EC....................................................... 243
EN 61000-6-4:2019...................................... 243
EN 614-1:2006+A1:2009..............................243
EN IEC 61000-6-2:2019...............................243
A EN ISO 10218-1:2011.................................. 243
Accessories.....................................................19 EN ISO 12100:2010..................................... 243
Angle of rotation............................................. 10 EN ISO 13849-1:2015..................................244
ANSI/RIA R15.06-2012................................ 243 EN ISO 13849-2:2012..................................244
Appendix....................................................... 243 EN ISO 13850:2015..................................... 244
Arctic................................................................. 8 ESD.................................................................42
Arm................................................................. 15 EX..................................................................... 9
Automatic mode..............................................30 Extension.......................................................... 8
Axis limitation, mechanical............................. 24 External axes..................................................19
Axis range.................................................. 8, 20 External axis.............................................11, 22

B F
Base frame..................................................... 16 F........................................................................9
Brake defect................................................... 25 F exclusive........................................................9
Brake release device......................................24 Faults.............................................................. 27
Braking distance.........................................8, 20 Flange loads................................................... 93
Fork lift truck.................................................239
Foundation loads.......................................... 150
C Foundry robots............................................... 40
C....................................................................... 8 Foundry, equipment........................................40
CE mark..........................................................20 Function test................................................... 28
Center of gravity...........................................237
Center of mass ............................................. 76
Certificates...................................................... 42 G
Cleaning work.................................................31 General safety measures............................... 25
Connecting cables........................... 19, 41, 233
Counterbalancing system.........................16, 32
Counterbalancing system, hydropneumatic... 16
CR.....................................................................8
H
HA..................................................................... 9
Handling equipment......................................239
Hazardous substances................................... 32
D HI...................................................................... 9
Danger zone...............................................9, 21 HM.................................................................... 9
Declaration of conformity............................... 20 HO.....................................................................9
Declaration of incorporation.....................19, 20 HP..................................................................... 9
Decommissioning............................................33 HW.................................................................... 9
Description of the robot system.....................13
Diagnosis package....................................... 245
Dimensions, transportation...........................237
Directives...................................................... 243
I
Disclaimer....................................................... 19 In-line wrist..................................................... 15
Disposal.......................................................... 33 Industrial robot................................................19
Documentation, industrial robot....................... 7 Industrial Robots and Robot System...........243
Information for planning............................... 225
Interface A1.................................................. 234
Interface, energy supply system..................235
E Interfaces...................................................... 233
EC declaration of conformity......................... 20 Introduction....................................................... 7
EDS...................................................................9
EDS cool...........................................................9
Electrical installations..................................... 16
Electromagnetic compatibility (EMC)........... 243
K

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K........................................................................9 Plates and labels..........................................158

KCP......................................................9, 21, 26 Positioner........................................................ 19
Keyboard, external......................................... 26 POV................................................................ 10
KR..................................................................... 9 PPE.................................................................22
KR C................................................................. 9 Pressure Equipment Directive.........16, 32, 243
KS..................................................................... 9 Pressure regulator.......................................... 40
KUKA Customer Support............................. 245 Preventive maintenance work........................ 31
KUKA Service...............................................245 Product description.........................................13
KUKA smartPAD........................................ 9, 21 Program override............................................10
KUKA smartPAD-2..................................... 9, 21 Protective circuit............................................. 16
Protective equipment, overview..................... 23

L
Labeling.......................................................... 25 R
Lifting tackle..................................................240 Rated supplementary loads........................... 74
Lifting tackle (optional)................................. 239 RDC................................................................ 10
Linear unit.......................................................19 RDC cool........................................................ 10
Link arm..........................................................15 Reaction distance.......................................8, 20
Low Voltage Directive.....................................20 Recommissioning............................................27
Regulations................................................... 243
Release device............................................... 24
M Repair............................................................. 31
Machine frame mounting..............................231 Robot controller.............................................. 19
Machinery Directive................................20, 243 Rotating column..............................................16
Main axes..................................................... 162
Maintenance................................................... 31
Manipulator..................................10, 14, 19, 21 S
Manual mode..................................................29 Safety..............................................................19
Mass............................................................... 76 Safety instructions............................................ 7
Mass moments of inertia............................... 76 Safety of machinery.............................243, 244
Maximum supplementary loads..................... 75 Safety zone.............................................. 21, 23
Mechanical end stops.................................... 23 Safety, general................................................19
MEMD............................................................. 10 SC................................................................... 10
micro RDC...................................................... 10 SE................................................................... 10
Misuse.............................................................17 Securing loads..............................................241
Motion speed.................................................. 10 Service life...................................................... 21
Mounting base with centering............. 225, 228 SI.....................................................................10
Mounting flange.............................................. 15 SL....................................................................10
Mounting flange D=125..................................91 smartPAD........................................... 10, 21, 26
Mounting flange D=160..................................92 Software..........................................................19
Mouse, external.............................................. 26 SPP...................................................................9
MT...................................................................10 Standards......................................................243
Start-up........................................................... 27
STOP 0.........................................................162
O STOP 1.........................................................162
Operators........................................................ 23 Stop categories........................................ 10, 21
Options..................................................... 16, 19 Stop signal....................................................163
Overload......................................................... 25 Stopping distance.............................. 8, 20, 163
Stopping distances....162, 164, 169, 175, 181,
187, 193, 199, 205, 211, 217
Stopping time................................................163
P Stopping times...162, 164, 169, 175, 181, 187,
P......................................................................10
193, 199, 205, 211, 217
PA................................................................... 10
Storage........................................................... 33
Payloads......................................................... 73
Supplementary load........................................96
Personal protective equipment...................... 22
Support request............................................ 245
Personnel........................................................22
System integrator.............................. 20, 21, 23
Phi...................................................................10
Planning........................................................ 225
Plant integrator............................................... 21
T

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T1 (operating mode)................................ 11, 21

T2 (operating mode)................................ 11, 22
Teach pendant................................................ 19
Technical data.................................................35
Terms used....................................................... 8
Terms, safety.................................................. 20
Training............................................................. 7
Transport position......................................... 237
Transport safeguard..................................... 241
Transportation........................................ 27, 237
Transportation by fork lift truck.................... 239
Transportation with lifting tackle.................. 240
Turn-tilt table...................................................19

U
Use
Intended..................................................... 17
User.......................................................... 20, 22
Users.................................................................7

W
W.....................................................................11
Warnings........................................................... 7
Workspace........................................... 8, 20, 23
WP.................................................................. 11

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