Palletizing Robots Press Linking Linear Units �25 �26 �27 �28 �29 �30 �31 �32 �33 �34 �35 Types KR 40 PA KR QUANTEC-1 KR QUANTEC-2 KR 300-2 PA KR 470-2 PA KR 700 PA KR 1000 L950 KR 1000 1300 titan PA KR QUANTEC-2 P KL 100 KL 250-3 KL 4000 KL 5000 Types PA³⁾ PA titan PA Rated payload 40 kg 240 kg 240 kg 300 kg 470 kg 700 kg 950 kg 1300 kg 120 kg 100 kg 300 kg 4000 kg 5000 kg Rated payload – 180 kg 180 kg – – – – – – – – – – – 120 kg 140 kg – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – Maximum payload 60 kg – 292 kg – – – 950 kg 1300 kg 120 kg – – – – Maximum payload – – 230 kg – – – – – – – – – – – – 180 kg – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – Rated supplementary load on arm 20 kg 50 kg 50 kg 50 kg 50 kg 50 kg 100 kg 100 kg 50 kg – – – – Rated supplementary load on arm Max. reach¹⁾ / Z-stroke 2091 mm 3195 mm 3195 mm 3150 mm 3150 mm 3320 mm 3601 mm 3202 mm 3505 mm – – – – Max. reach¹⁾ / Z-stroke – 3195 mm 3195 mm – – – – – – – – – – – 3195 mm 3195 mm – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – Number of axes 4 5 5 5 5 4 4 4 6 1 1 1 1 Number of axes Positioning repeatability ±0.05 mm ±0.06 mm ±0.07 mm ±0.08 mm ±0.08 mm ±0.08 mm ±0.10 mm ±0.10 mm ±0.05 mm ±0.02 mm ±0.02 mm ±0.02 mm ±0.02 mm Positioning repeatability Weight (robot) approx. 695 kg 1103 kg 1017 kg 2150 kg 2150 kg 2850 kg 4740 kg 4690 kg 1281 kg travel-dependent travel-dependent travel-dependent travel-dependent Weight (robot) approx. – 1093 kg 1017 kg – – – – – – – – – – – 1075 kg 1017 kg – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – Mounting position Floor Floor Floor Floor Floor Floor Floor Floor Floor, Ceiling²⁾ Floor, Ceiling, Wall Floor, Ceiling Floor, Ceiling Floor Mounting position Version (optional) – – – – – – – Version (optional) Comments – – – – – – – – – Axis 7: Axis 7: Axis 7: Axis 7: Comments – – – – – – – – – 0.25–30 m 1.1–30.1 m 0.4–30.4 m 0.3–30.3 m A1 Axis Data ±155° ±185° ±185° ±185° ±185° ±185° ±150° ±150° ±185° – – – – Axis Data A1 A2 –15°/–120° –5°/–140° –5°/–140° +20°/–130° +20°/–130° +10°/–120° +17.5°/–130° +17.5°/–130° +70°/–120° – – – – A2 A3 Rang +145°/+15° +155°/0° +165°/0° +155°/0° +155°/0° +150°/–10° +145°/+62° +145°/+62° +168°/–120° – – – – e A3 A4 – – – – – – – – ±350° – – – – A4 A5 e – – +150°/–55° – – – ±118° ±118° ±122.5° – – – – Rang A5 A6 ±350° ±350° ±350° ±350° ±350° ±350° ±350° ±350° ±350° – – – – A6 A7 – – – – – – – – – – – – – A7 A1 183°/s 105°/s 137°/s 98°/s 84°/s 76°/s 58°/s 58°/s 112°/s Traversing velocity A1 – 105°/s 137°/s – – – – – – 2.48 m/s 1.47 m/s 1.89 m/s 1.89 m/s – 124°/s 137°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – A2 153°/s 101°/s 111°/s 91°/s 78°/s 76°/s 50°/s 50°/s 107°/s – – – – A2 – 107°/s 111°/s – – – – – – – – – – – 115°/s 111°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – A3 212°/s 107°/s 119°/s 89°/s 73°/s 67°/s 50°/s 50°/s 114°/s – – – – A3 – 114°/s 119°/s – – – – – – – – – – – 112°/s 119°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – V – – – – – – – – – – – – – y elocit – – – – – – – – – – – – – elocit A4 y – – – – – – – – 150°/s – – – – V A4 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – A5 – 173°/s 225°/s – – – 60°/s 60°/s 129°/s – – – – A5 – 173°/s 225°/s – – – – – – – – – – – 217°/s 225°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – A6 374°/s 242°/s 321°/s 177°/s 177°/s 168°/s 72°/s 72°/s 219°/s – – – – A6 – 242°/s 321°/s – – – – – – – – – – – 242°/s 321°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – –