ROBOT

(V)KR 150, 180, 210

Technical Data

Issued: 04 Jul 2003 Version: 06

Ro/Me/01/33.01 12.00.06 en

1 of 30
e Copyright KUKA Roboter GmbH
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim 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 software 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
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.

PD Interleaf

Ro/Me/01/33.01 12.00.06 en

2 of 30
Contents

1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Principal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Ro/Me/01/33.01 12.00.06 en

3 of 30
Technical Data

Ro/Me/01/33.01 12.00.06 en

4 of 30
1 General

Valid for (V)KR 150

(V)KR 150 L130
(V)KR 150 L110
(V)KR 180
(V)KR 180 L150
(V)KR 180 L130
(V)KR 210
(V)KR 210 L180
(V)KR 210 L150

1 General
The robot is a six--axis industrial robot for installation on the floor or on the ceiling. It is suitable
for all point--to--point and continuous--path controlled tasks. The main areas of application
are
-- spot welding
-- handling
-- assembly
-- application of adhesives, sealants and preservatives
-- machining
-- MIG/MAG welding
-- YAG laser beam welding.

Using the robot for purposes other than those mentioned above is considered con-
trary to its designated use (see Doc. Module “Safety, General”).

Figure 1 shows the robot system, comprising the manipulator (= robot), control cabinet and
connecting cables.
The following data apply, unless otherwise indicated, to both floor--mounted and ceiling--
mounted robots.

Ro/Me/01/33.01 12.00.06 en

5 of 30
Technical Data

3 4

1
7

5
8
6

1 Counterbalancing system 6 Base frame

2 Link arm 7 Control cabinet (see separate
3 Arm documentation)
4 In--line wrist 8 Connecting cables
5 Rotating column

Fig. 1 Principal robot components

Ro/Me/01/33.01 12.00.06 en

6 of 30
2 Principal data

2 Principal data
Types KR 150 KR 150 L130 KR 150 L110
KR 180 KR 180 L150 KR 180 L130
KR 210 KR 210 L180 KR 210 L150

Number of axes 6 (Fig. 3)

Load limits See the following table and Fig. 2

Robot type KR 150 KR 150 L130 KR 150 L110

Wrist (IW)1 150/180 kg
Rated payload [kg] 150 130 110
Suppl. load, arm [kg] 50 50 50
Suppl. load, link arm [kg] 100 100 100
Max. suppl. load,
100
arm and link arm [kg]
Suppl. load, rotating column [kg] 300 300 300
Max. total distrib. load [kg] 550 530 510
Arm length [mm] 1100 1300 1500

Robot type KR 180 KR 180 L150 KR 180 L130

Wrist (IW)1 150/180 kg
Rated payload [kg] 180 150 130
Suppl. load, arm [kg] 50 50 80
Suppl. load, link arm [kg] 100 100 100
Max. suppl. load,
100
arm and link arm [kg]
Suppl. load, rotating column [kg] 300 300 300
Max. total distrib. load [kg] 580 550 530
Arm length [mm] 1100 1300 1500

Robot type KR 210 KR 210 L180 KR 210 L150

Wrist (IW)1 210 kg
Rated payload [kg] 210 180 150
Suppl. load, arm [kg] 50 50 50
Suppl. load, link arm [kg] 100 100 100
Max. suppl. load,
100
arm and link arm [kg]
Suppl. load, rotating column [kg] 300 300 300
Max. total distrib. load [kg] 610 580 550
Arm length [mm] 1100 1300 1500

1 IW = in--line wrist

Ro/Me/01/33.01 12.00.06 en

7 of 30
Technical Data

Max. total distributed load

Suppl. load Payload

Max. total suppl. load,

Link arm/arm P

Suppl. load,
Suppl. load,
rotating column link arm

Fig. 2 Load distribution

Axis data
All specifications in the “Range of motion” column are referred to the mechanical zero of the
robot axis concerned.

KR 150
KR 150 L130
KR 150 L110
D In--line wrist, rated payload 150/130/110 kg

Axis Range of motion Speed with rated payload

software limited

150 kg 130 kg 110 kg

1 ±185˚ 110 ˚/s 105 ˚/s 105 ˚/s

2 +90˚
to 110 ˚/s 110 ˚/s 110 ˚/s
--61˚

3 +65˚
to 100 ˚/s 95 ˚/s 93 ˚/s
--209˚

4 ±350˚ 170 ˚/s

5 ±125˚ 170 ˚/s

6 ±350˚ 238 ˚/s

Ro/Me/01/33.01 12.00.06 en

8 of 30
2 Principal data (continued)

KR 180
KR 180 L150
KR 180 L130
D In--line wrist, rated payload 180/150/130 kg

Axis Range of motion Speed with rated payload

software limited

180 kg 150 kg 130 kg

1 ±185˚ 95 ˚/s

2 +90˚
to 95 ˚/s
--61˚

3 +65˚
to 90 ˚/s 87 ˚/s 83 ˚/s
--209˚

4 ±350˚ 162 ˚/s 168 ˚/s 171 ˚/s

5 ±125˚ 164 ˚/s 168 ˚/s 170 ˚/s

6 ±350˚ 229 ˚/s 235 ˚/s 238 ˚/s

KR 210
KR 210 L180
KR 210 L150
D In--line wrist, rated payload 210/180/150 kg

Axis Range of motion Speed with rated payload

software limited

210 kg 180 kg 150 kg

1 ±185˚ 86 ˚/s

2 +90˚
to 84 ˚/s
--61˚

3 +65˚
to 84 ˚/s 84 ˚/s 81 ˚/s
--209˚

4 ±350˚ 100 ˚/s

5 ±125˚ 110 ˚/s

6 ±350˚ 184 ˚/s

Ro/Me/01/33.01 12.00.06 en

9 of 30
Technical Data

A4 +
+ +
A5 A3
--
--
+ --
A1
-- -- +
A6
+
A2
--

Fig. 3 Robot axes and their possible motions

Repeatability ± 0.15 mm for KR 150

KR 150 L130
KR 150 L110
KR 180
KR 180 L150
KR 180 L130
± 0.2 mm for KR 210
KR 210 L180
KR 210 L150

Mounting position All types:

floor or ceiling (permissible angle of inclination ≤ 5˚).

Principal dimensions see Fig. 13

Working envelope see Fig. 13.

Volume of working KR 150 approx. 55.0 m3

envelope KR 150 L130 approx. 72.9 m3
KR 150 L110 approx. 93.0 m3
KR 180 approx. 55.0 m3
KR 180 L150 approx. 72.9 m3
KR 180 L130 approx. 93.0 m3
KR 210 approx. 55.0 m3
KR 210 L180 approx. 72.9 m3
KR 210 L150 approx. 93.0 m3

The reference point is the intersection of axes 4 and 5.

Load center of see Fig. 4 to Fig. 12.

gravity P For all rated payloads, the horizontal distance of the load center
of gravity P from the face of the mounting flange is 240 mm; the
vertical distance from rotational axis 6 is 270 mm (nominal dis-
tance in each case).

Ro/Me/01/33.01 12.00.06 en

10 of 30
2 Principal data (continued)

Mounting flange DIN/ISO1 mounting flange (Fig. 16).

The flange is depicted with axes 4 and 6 in the zero position. The
symbol indicates the position of the locating element (bushing).
M10 screws of grade 10.9 are to be used for attaching payloads.
The grip length of the screws in the flange must be at least 1.5 x
nominal diameter.
Depth of engagement: min. 12 mm
max. 14 mm
1 DIN/ISO 9409--1--A160

Weight KR 150 1245 kg

KR 150 L130 1255 kg
KR 150 L110 1263 kg
KR 180 1267 kg
KR 180 L150 1277 kg
KR 180 L130 1285 kg
KR 210 1267 kg
KR 210 L180 1277 kg
KR 210 L150 1285 kg

Principal dynamic loads

see Fig. 17

Drive system Electromechanical, with transistor--controlled AC servomotors

Installed motor capacity

KR 150 21.60 kW
KR 180 22.80 kW
KR 210 23.40 kW

Robot protection classification

IP 65
ready for operation, with connecting cables plugged in
(according to EN 60529).

Protection classification of
the in--line wrist IP 65 (according to EN 60529).

Protection classification of
the in--line wrist “F” IP 67 (according to EN 60529)

Stress limits, in--line wrist “F”

Thermal loading 10 s/min at 180 °C
Surface temperature 100 °C
Resistant to: -- high ambient dust content
-- lubricants and coolants
-- steam
Special maintenance intervals apply for in--line wrists of type “F”.

Ambient temperature During operation:

283 K to 328 K (+10 °C to +55 °C),
During storage and transportation:
233 K to 333 K (--40 °C to +60 °C).
Other temperature limits available on request.

Ro/Me/01/33.01 12.00.06 en

11 of 30
Technical Data

Special features for the “F” variant

Pressurized arm
Overpressure in arm: 0.1 bar
Compressed air: free of oil and water
Air consumption: approx. 0.1 m3/h
Threaded union: M5
Pressure reducer: 0.1 -- 0.7 bar
Pressure gauge: 0 -- 1 bar
Filter: 25 -- 30 mm

Sound level < 75 dB (A) outside the working envelope

Zero adjustment For zero adjustment with the electronic probe (accessory) when
the tool is mounted, the latter must be designed to allow sufficient
space for installation and removal of the probe (Fig. 18).

Colors Robot
Base (stationary): black (RAL 9005).
Moving parts: orange (RAL 2003).
With “F” variant, additional special paint finish for the entire robot.

In--line wrist “F”:

Heat--resistant and heat--reflecting special paint finish in silver.

Plates see Fig. 19 to Fig. 30.

Ro/Me/01/33.01 12.00.06 en

12 of 30
2 Principal data (continued)

Concerning Fig. 4 to Fig. 11:

These loading curves correspond to the maximum load capacity. Both values
(payload and principal moment of inertia) must be checked in all cases. Exceed-
ing this capacity will reduce the service life of the robot and generally overload
the motors and the gears; in any such case KUKA must be consulted before-
hand.

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 75 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lxy (mm)
Lz
Ly

500 100 kg

110 kg
120 kg
400
130 kg
140 kg
150 kg
300

200

100

A5
KR 150 Lz (mm)
A4
A6
100 200 300 400 500 600 700

Fig. 4 Load center of gravity P and loading curves for KR 150

Ro/Me/01/33.01 12.00.06 en

13 of 30
Technical Data

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 65 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500 90 kg

100 kg

110 kg
400
120 kg
130 kg

300

200

100

A5
Lz (mm)
KR 150 L130
A4
A6
100 200 300 400 500 600 700

Fig. 5 Load center of gravity P and loading curves for KR 150 L130

Ro/Me/01/33.01 12.00.06 en

14 of 30
2 Principal data (continued)

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 55 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500
80 kg

90 kg
400 100 kg

110 kg

300

200

100

A5
KR 150 L110 Lz (mm)
4
A6
100 200 300 400 500 600 700

Fig. 6 Load center of gravity P and loading curves for KR 150 L110

Ro/Me/01/33.01 12.00.06 en

15 of 30
Technical Data

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 90 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500 120 kg
130 kg
140 kg
400 150 kg
160 kg
170 kg
180 kg
300

200

100

A5
Lz (mm)
KR 180
A4
A6
100 200 300 400 500 600 700

Fig. 7 Load center of gravity P and loading curves for KR 180

Ro/Me/01/33.01 12.00.06 en

16 of 30
2 Principal data (continued)

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 75 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500 100 kg

110 kg
120 kg
400
130 kg
140 kg
150 kg
300

200

100

A5
KR 180 L150 Lz (mm)
A4
A6
100 200 300 400 500 600 700

Fig. 8 Load center of gravity P and loading curves for KR 180 L150

Ro/Me/01/33.01 12.00.06 en

17 of 30
Technical Data

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 65 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500 90 kg

100 kg

110 kg
400
120 kg
130 kg

300

200

100

A5
KR 180 L130 Lz (mm)
A4
A6
100 200 300 400 500 600 700

Fig. 9 Load center of gravity P and loading curves for KR 180 L130

Ro/Me/01/33.01 12.00.06 en

18 of 30
2 Principal data (continued)

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 105 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500
150 kg
160 kg
170 kg
400
180 kg
190 kg
200 kg
210 kg
300

200

100

A5
KR 210 Lz (mm)
A4
A6
100 200 300 400 500 600 700

Fig. 10 Load center of gravity P and loading curves for KR 210

Ro/Me/01/33.01 12.00.06 en

19 of 30
Technical Data

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 90 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500
130 kg
140 kg
150 kg
400
160 kg
170 kg
180 kg
300

200

100

A5
KR 210 L180 Lz (mm)
A4
A6
100 200 300 400 500 600 700

Fig. 11 Load center of gravity P and loading curves for KR 210 L180

Ro/Me/01/33.01 12.00.06 en

20 of 30
2 Principal data (continued)

The values determined here are necessary for planning the robot application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.

Robot flange coordinate system Permissible mass inertia at the

design point
(Lxy = 270 mm,
--X
Lxy =  L x 2 + Ly 2 Lz = 240 mm)
is 75 kgm2.
--Z
+Y CAUTION: The mass inertia must be
calculated using KUKA Load. It is
imperative for the load data to be
entered in the controller!
--Y
+X +Z
Lxy
Lx
Load center of gravity P
Lz
Ly

Lxy (mm)

500
110 kg

120 kg
130 kg
400
140 kg
150 kg

300

200

100

A5
KR 210 L150 Lz (mm)
A4
A6
100 200 300 400 500 600 700

Fig. 12 Load center of gravity P and loading curves for KR 210 L150

Ro/Me/01/33.01 12.00.06 en

21 of 30
Technical Data

Suppl. load

View Y

,,
G

- -185˚ CAUTION: The interference radius

(safe area) lies approx. 250 mm be-
yond the reference point for the
working envelope.

NOTE: The center of gravity of the

supplementary load must be located
as close as possible to rotational
axis 3 and to line “a” in Fig. 14.
The reference point for the working
envelope is the intersection of rota-
+185˚ tional axes 4 and 5.
View Y see Fig. 14.

A B C D E F G

KR 150 3100 3450 2700 1875 825 1843 1100

KR 150 L130 3300 3850 2900 2050 850 2043 1300
KR 150 L110 3500 4250 3100 2150 950 2243 1500
KR 180 3100 3450 2700 1875 825 1843 1100
KR 180 L150 3300 3850 2900 2050 850 2043 1300
KR 180 L130 3500 4250 3100 2150 950 2243 1500
KR 210 3100 3450 2700 1875 825 1843 1100
KR 210 L180 3300 3850 2900 2050 850 2043 1300
KR 210 L150 3500 4250 3100 2150 950 2243 1500

Fig. 13 Principal dimensions and working envelope (software values)

Ro/Me/01/33.01 12.00.06 en

22 of 30
2 Principal data (continued)

View Y from Fig. 13

up to --145°
X = 125 mm
M12x18 (2x)

X = 100 mm
M8x8 (2x)
up to --209° a

X
Support brackets for suppl. load (2x)

Max. dimension for suppl. load

Fig. 14 Attachment holes for supplementary load on arm

M12x24 150
150
300,5

M20x30

5°
315
149

70
80

Fig. 15 Attachment holes for supplementary load on rotating column and link arm

Ro/Me/01/33.01 12.00.06 en

23 of 30
Technical Data

230
xm to A 4/A 5

8.5 +0.3
10 deep R 190
9.5 ¦0.1

8 Fitting length

15 Depth of thread

M10 fastening screws,

grade 10.9
Depth of engagement: min. 12 mm
max. 14 mm

Fig. 16 DIN/ISO mounting flange for in--line wrist 150/180/210 kg

Ro/Me/01/33.01 12.00.06 en

24 of 30
2 Principal data (continued)

The specified forces and moments already include the payload and the inertia
force (weight) of the robot.

Fv

Mk

Fv

Fh
Mr

Fv = vertical force Fvmax = 24 000 N

Fh = horizontal force Fhmax = 18 000 N
Mk = tilting moment Mkmax = 49 000 Nm
Mr = turning moment about axis 1 Mrmax = 38 000 Nm

Total mass = Robot + total load for type

1245 kg + 550 kg KR 150

1255 kg + 530 kg KR 150 L130
1263 kg + 510 kg KR 150 L110
1267 kg + 580 kg KR 180
1277 kg + 550 kg KR 180 L150
1285 kg + 530 kg KR 180 L130
1267 kg + 610 kg KR 210
1277 kg + 580 kg KR 210 L180
1285 kg + 550 kg KR 210 L150

Fig. 17 Principal loads acting on the mounting base due to robot and total load

Ro/Me/01/33.01 12.00.06 en

25 of 30
Technical Data

View A

Fig. 18 Electronic probes (EMT), installation on A 4, A 5 and A 6

3 4 5

10
2 3 4 5

6
7
11 9
1 8
1
9

Fig. 19 Plates on robot (see also Fig. 20 to Fig. 30)

Ro/Me/01/33.01 12.00.06 en

26 of 30
2 Principal data (continued)

Fig. 20 Instructions regarding transport position for floor--mounted

and ceiling--mounted robots

Fig. 21 Safety instructions regarding counterbalancing system

3 2x

Fig. 22 Instructions for safeguarding against toppling of A 2, A 3

Ro/Me/01/33.01 12.00.06 en

27 of 30
Technical Data

4x on each AC servomotor

Fig. 23 Hot surface warning sign

.................
On all motors
...........................................................
................................................
...........................................................
................................................
...........................................................
.................................................
5

Fig. 24 Drive motor rating plate

KUKA Roboter GmbH

Augsburg / Germany

Typ Type Type

$TRAFONAME[]=”#
...\MADA
Werk- -Nr. Serial No. No.Série 800 001

Baujahr Date Année de fab.

Zeichn.- -Nr.Draw.No. Plan No. 394.016

Gewicht Weight Poids 1245 kg

de/en/fr 6

Fig. 25 Robot identification plate (example)

Ro/Me/01/33.01 12.00.06 en

28 of 30
2 Principal data (continued)

Fig. 26 Reference to operating instructions

Fig. 27 High voltage warning sign

9
3x
Fig. 28 Danger area

Ro/Me/01/33.01 12.00.06 en

29 of 30
Technical Data

10

Fig. 29 Fastening instructions

11

Fig. 30 Instructions for safeguarding against toppling of A 2

1

Ro/Me/01/33.01 12.00.06 en

30 of 30