Small Robots Low Payloads �01 �02 �03 �04 �05 �06 �07 �08 �09 �10 �11 �12 _13 �14 �15 �16 Types LBR iiwa LBR Med⁴⁾ LBR iisy KR DELTA KR SCARA KR 4 AGILUS KR AGILUS-1³⁾ KR AGILUS-2 KR CYBERTECH KR CYBERTECH KR CYBERTECH KR CYBERTECH-2 KR CYBERTECH E KR CYBERTECH-1 KR CYBERTECH-2 KR CYBERTECH-1 Types nano nano ARC nano ARC E⁶⁾ ARC KS-F Rated payload 14 kg 14 kg 15 kg 3 kg 10 kg 6 kg 4 kg 5 kg 10 kg 10 kg 8 kg 6 kg 22 kg 20 kg 20 kg 8 kg 20 kg Rated payload 7 kg 7 kg 11 kg 3 kg 10 kg 6 kg – 5 kg 10 kg 8 kg 8 kg 6 kg 20 kg – – – – – – 8 kg 3 kg 10 kg 6 kg – 3 kg 6 kg 6 kg 6 kg – 16 kg – – – – – – 6 kg – – 6 kg – 3 kg 6 kg – – – 16 kg – – – – – – 3 kg – – 3 kg – – – – – – 12 kg – – – – – – – – – 3 kg – – – – – – 8 kg – – – – – – – – – – – – – – – – – – – – – Maximum payload – – 16.41 kg 6 kg 20 kg 13 kg 4.63 kg 10 kg 11.1 kg 14.3 kg 14.5 kg 9 kg 27.3 kg 23.9 kg 23.9 kg 9.3 kg 23.9 kg Maximum payload – – 11.72 kg 6 kg 20 kg 12 kg – 10 kg 11.3 kg 12 kg 10.7 kg 6.56 kg 23.9 kg – – – – – – 8 kg⁷⁾ 6 kg 20 kg 12 kg – 6 kg 6.7 kg 9 kg 12.6 kg – 19.2 kg – – – – – – 6 kg⁷⁾ – – 12 kg – 6 kg 6.8 kg – – – 20 kg – – – – – – 3.34 kg – – 6 kg – – – – – – 14.5 kg – – – – – – – – – 6 kg – – – – – – 9.8 kg – – – – – – – – – – – – – – Rated supplementary load on arm – – – – – – – – – 10 kg 10 kg 10 kg 10 kg 10 kg 10 kg 10 kg 10 kg Rated supplementary load on arm Max. reach¹⁾ / Z-stroke 820 mm 820 mm 930 mm 600 mm 1200 mm 850 mm 601 mm 1101 mm 1101 mm 1440 mm 1441 mm 1441 mm 1612 mm 1820 mm 1813 mm 2101 mm 2010 mm Max. reach¹⁾ / Z-stroke 800 mm 800 mm 1300 mm 600 mm 1000 mm 850 mm – 901 mm 901 mm 1640 mm 1641 mm 2010 mm 1813 mm – – – – – – 930 mm 600 mm 800 mm 750 mm – 901 mm 901 mm 1840 mm 1843 mm – 2013 mm – – – – – – 1300 mm – – 650 mm – 706 mm 726 mm – – – 1612 mm – – – – – – 760 mm – – 700 mm – – – – – – 1813 mm – – – – – – – – – 500 mm – – – – – – 2013 mm – – – – – – – – – – – – – – – – – – – – – Number of axes 7 7 6 4 4 4 6 6 6 6 6 6 6 6 6 6 6 Number of axes Positioning repeatability ±0.15/0.1 mm ±0.15/0.1 mm ±0.1 mm ±0.05 mm ±0.025–0.035 mm ±0.02–0.025 mm ±0.02 mm ±0.03 mm ±0.02 mm ±0.04 mm ±0.04 mm ±0.04 mm ±0.04 mm ±0.04 mm ±0.04 mm ±0.04 mm ±0.04 mm Positioning repeatability Weight (robot) approx. 29.9 kg 32.3 kg 43.2 kg 105 kg 64 kg 55 kg 27 kg 54 kg 55 kg 153 kg 167 kg 195 kg 255 kg 240 kg 250 kg 260 kg 242 kg Weight (robot) approx. 23.9 kg 25.5 kg 46.3 kg 95 kg 64 kg 51 kg – 52 kg 55 kg 158 kg 172 kg 204 kg 255 kg – – – – – – 43.2 kg 95 kg 60 kg 51 kg – 52 kg 55 kg 162 kg 175 kg – 260 kg – – – – – – 46.3 kg – – 49 kg – 50 kg 53 kg – – – 255 kg – – – – – – 22.8 kg – – 22 kg – – – – – – 255 kg – – – – – – – – – 20 kg – – – – – – 260 kg – – – – – – – – – – – – – – – – – – – – – Mounting position Floor, Ceiling, Wall Floor, Ceiling, Wall Floor, Ceiling, Ceiling Floor Floor Floor, Ceiling, Floor, Ceiling, Floor, Ceiling, Floor, Ceiling, Floor, Ceiling Floor, Ceiling Floor, Ceiling, Floor, Ceiling, Floor, Ceiling, Floor, Ceiling, Floor Mounting position Wall, Angle Wall, Angle Wall, Angle Wall, Angle Wall, Angle Wall, Angle Wall, Angle Wall, Angle Wall, Angle Version (optional) – – – – – – – – Version (optional) Comments – – – – – – – – – – Arc welding Arc welding – – – Arc welding – Comments – – – – – – – – – – – – – – – – – a) b) A1 Axis Data ±170° ±170° ±185° +42°/–109° ±140° ±132°/±145° ±170° ±170° ±170° ±170° ±170° ±170° ±185° ±185° ±185° ±185° ±125° Axis Data A1 a) A2 +120° +120° +50°/–230° +42°/–109° ±140° ±145° +40°/–195° +45°/–190° +45°/–190° +65°/–185° +65°/–185° +65°/–185° +65°/–185° +65°/–185° +65°/–185° +65°/–185° +90°/–120° A2 a) A3 Rang ±170° ±170° ±150° +42°/–109° – – +150°/–115° +156°/–120° +156°/–120° +163°/–137° +181°/–119° +178°/–122° +175°/–138° +175°/–138° +175°/–138° +175°/–138° +175°/–138° e A3 a) A4 +120° +120° +175° ±355° ±355° ±355° ±185° ±185° ±185° ±185° ±165° ±165° ±350° ±350° ±350° ±165° ±350° A4 A5 e ±170° ±170° ±110° – – – ±120° ±120° ±120° ±120° +140°/–115° ±140° ±130° ±120° ±130° +140°/–115° ±130° Rang A5 A6 ±120° ±120° ±220° – – – ±350° ±350° ±350° ±350° ±350° ±350° ±350° ±350° ±350° ±350° ±350° A6 A7 ±175° ±175° – – – – – – – – – – – – – – – A7 A1 85°/s 85°/s 200°/s 610°/s 280°/s 390°/s 336°/s 300°/s 300°/s 220°/s 220°/s 230°/s 200°/s 195°/s 200°/s 200°/s 200°/s A1 98°/s 98°/s 200°/s 168°/s 350°/s 400°/s – 300°/s 300°/s 220°/s 220°/s 200°/s – – – – – – – 200°/s⁷⁾ 600°/s 420°/s 430°/s – 360°/s 360°/s 220°/s 220°/s – – – – – – – – 200°/s⁷⁾ – – 450°/s – 360°/s 360°/s – – – – – – – – – – 200°/s – – 420°/s – – – – – – – – – – – – – – – – 420°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – A2 85°/s 85°/s 200°/s 610°/s 470°/s 645°/s 336°/s 225°/s 225°/s 210°/s 210°/s 230°/s 175°/s 175°/s 175°/s 175°/s 175°/s A2 98°/s 98°/s 200°/s 168°/s 530°/s 660°/s – 225°/s 225°/s 210°/s 210°/s 165°/s – – – – – – – 200°/s⁷⁾ 600°/s 590°/s 660°/s – 300°/s 300°/s 210°/s 210°/s – – – – – – – – 200°/s⁷⁾ – – 665°/s – 300°/s 300°/s – – – – – – – – – – 200°/s – – 720°/s – – – – – – – – – – – – – – – – 720°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – A3 100°/s 100°/s 200°/s 610°/s – – 488°/s 225°/s 330°/s 270°/s 270°/s 230°/s 190°/s 180°/s 190°/s 190°/s 190°/s A3 100°/s 100°/s 200°/s 168°/s – – – 225°/s 330°/s 270°/s 270°/s 200°/s – – – – – – – 200°/s⁷⁾ 600°/s – – – 360°/s 360°/s 270°/s 270°/s – – – – – – – – 200°/s⁷⁾ – – – – 360°/s 360°/s – – – – – – – – – – 200°/s – – – – – – – – – – – – – – V – – – – – – – – – – – – – – – – – y elocit – – – – – – – – – – – – – – – – – 75°/s 75°/s 230°/s 840°/s 1400°/s 2700°/s 600°/s 381°/s 360°/s 381°/s 430°/s 430°/s 430°/s 360°/s 430°/s 430°/s 430°/s elocit A4 y 130°/s 130°/s 230°/s 162°/s 1400°/s 2700°/s – 381°/s 360°/s 381°/s 430°/s 430°/s – – – – – V A4 – – 230°/s⁷⁾ 840°/s 1400°/s 2700°/s – 381°/s 450°/s 381°/s 430°/s – – – – – – – – 230°/s⁷⁾ – – 2700°/s – 381°/s 450°/s – – – – – – – – – – 300°/s – – 2000°/s – – – – – – – – – – – – – – – – 2000°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – A5 130°/s 130°/s 260°/s – – – 529°/s 311°/s 360°/s 311°/s 430°/s 430°/s 430°/s 360°/s 430°/s 430°/s 430°/s A5 140°/s 140°/s 260°/s – – – – 311°/s 360°/s 311°/s 430°/s 430°/s – – – – – – – 260°/s⁷⁾ – – – – 388°/s 450°/s 311°/s 430°/s – – – – – – – – 260°/s⁷⁾ – – – – 388°/s 450°/s – – – – – – – – – – 300°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – A6 135°/s 135°/s 430°/s – – – 800°/s 492°/s 433°/s 472°/s 628°/s 630°/s 630°/s 550°/s 630°/s 630°/s 630°/s A6 180°/s 180°/s 430°/s – – – – 492°/s 433°/s 472°/s 628°/s 630°/s – – – – – – – 430°/s⁷⁾ – – – – 615°/s 540°/s 472°/s 628°/s – – – – – – – – 430°/s⁷⁾ – – – – 615°/s 540°/s – – – – – – – – – – 400°/s – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – a) not valid for KR 3 D1200 HM b) only KR 13 R850 Z340 HO