KUKA Robots

for Low Payloads

KUK A – YOUR STRONG PARTNER.

Quality made German robots built with the utmost

commitment to our customer’s needs. KUKA has been
the basis for decades of exceptional technology helping
companies to achieve process optimization. We were
the pioneers in the world of robotics, and now are
global leader in innovation. Our passion is finding
future-oriented solutions to make even complex
automation tasks simple. Whatever your application
no matter the difficulty you can implement it with
KUKA. Thanks to experienced KUKA system partners
we are able to provide robotic solutions industry-
wide. We strive to turn your ideas into reality. Use our
experience to drive your success.
 3

Making light work of it all.

KUKA’s low payload category
from 5 kg to 16 kg.
KUKA robots with low payloads demonstrate unique strengths in bonding,
sealing, foaming and all tasks requiring high path accuracy. In arc welding,
KUKA robots for low payloads boast the best acceleration values on the
market. Even light work such as component testing, small-part assembly or
grinding, polishing, assembly as well as machine loading and unloading
are in the best of hands when performed by KUKA robots of the low payload
category. With optimal reach and payload coverage, this range of robots
offers a level of performance that is hard to beat.

© ARBURG

To find out more about KUKA robots

for low payloads, scan this QR code
with your smartphone.
4 \ KUKA Robots for Low Payloads \ A d v ant ag e s an d f un c t io ns

Designed for highly efficient automation.

The robots of the low payload category.
Product overview

Robot KR 5 arc
KR 5-2 arc HW
KR 6-2
KR 16-2
KR 16-3 S
KR 16 L6-2
KR 16 arc HW
KR 16 L8 arc HW
Controller KR C4
Teach pendant KUKA smartPAD

IDEAL FORM [+]

[+] LOW MAINTENANCE

FLEXIBLE [+]

[+] ROBUST

QUALITY STANDARD [+]

[+] PATH ACCURACY

99.995 % AVAILABILITY [+]

 5

Reach
1 2

2,100 mm J

2,000 mm H

1,900 mm F 1 KR 5 arc (A)

KR 5-2 arc HW (B)
KR 6-2 (C)
1,800 mm I KR 16-2 (D)
KR 16-3 S (E)
KR 16 L6-2 (F)
1,700 mm KR 16 arc HW (G)
G
KR 16 L8 arc HW (H)
1,600 mm C D
E KR 16-2 KS (I)
KR 16 L6-2 KS (J)
1,500 mm
2 Streamlined wrist
A B design for high
1, 400 mm accessibility, even in
0 kg 2.5 kg 5 kg 7.5 kg 10 kg 12.5 kg 15 kg 17.5 kg Payload confined spaces

Advantages and functions

LOW MAINTENANCE. KUKA robots offer the longest maintenance intervals on the market, at around
20,000 operating hours, ensuring maximum productivity.

ROBUST. Systematically designed for durability, KUKA robots operate reliably over long periods even
under extreme conditions.

QUALITY STANDARD. To ensure a good return on investments over many years, KUKA bestows the
greatest importance to quality – in every component, gear unit and axis.

IDEAL FORM. Their optimal balance of reach, weight, speed and energy consumption qualifies KUKA
robots for a large number of both familiar and new applications.

99.995 % AVAILABILITY. KUKA robots for low payloads allow long-term planning and cost estimation.

PATH ACCURACY. KUKA robots set standards with their unparalleled precision in welding, bonding and
sealing, while attaining utmost repeatability and unbeatable cycle times.

FLEXIBLE. The functional diversity of KUKA robots means there are no limits on their application
potential. In addition, they can be individually adapted, e.g. by means of arm extensions.
6 \ KUKA Robots for Low Payloa ds \ Te chnic al Det ails

KR 5 arc
Work envelope1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 5 arc 1,632 mm 2,207 mm 1,412 mm 881 mm 531 mm 1,052 mm 620 mm 8.4 m3

2463

C
2463
G 115
C
-15˚
G 115
+158˚
120

-15˚
+158˚
120

-180˚
A

600

B
-180˚
A

600
400

B
+65˚

976
400

+65˚

976
180

F E D 118
180

F E D 118

-155˚

-155˚

R 1530

C
R 1530

C
+155˚

+155˚

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
Relative to intersection of axes 4/5.
 7

Features and advantages

SPACE-SAVING. Compact dimensions reduce the footprint.

DURABLE AND LOW ON MAINTENANCE. Longest service life

of any robot in its class with 40,000 h assured production,
longest maintenance intervals of over 20,000 h for
uninterrupted production.

FLEXIBLE. Use of a standard robot wrist means it is not

restricted to arc welding applications and is highly versatile.

LIGHT. Low weight simplifies transportation and installation.

PRODUCTIVE. Automated mastering with electronic

measuring tool ensures fast availability, even after
malfunctions.

EXPANDABLE. Operation on linear unit possible, as a KR 5 arc

result also usable for larger workpieces.
Max. reach 1,412 mm
Rated payload 5 kg
Rated suppl. load, arm/link arm/rot. column 12/–/20 kg
Maximum total load 37 kg
Pose repeatability ±0.04 mm
Number of axes 6
Mounting position Floor, ceiling
Variant –
Robot footprint 324 mm x 324 mm
Weight (excluding controller), approx. 127 kg

Axis data/ Speed with rated

Range of motion payload 5 kg

Axis 1 (A1) + / -155° 154°/s

Axis 2 (A2) +65°/-180° 154°/s
Axis 3 (A3) +158°/-15° 228°/s
Axis 4 (A4) + / -350° 343°/s
Axis 5 (A5) + / -130° 384°/s
Axis 6 (A6) + / -350° 721°/s

Operating conditions

Ambient temperature +10 °C to +55 °C

Protection rating

Protection rating, robot IP 54

Protection rating, in-line wrist IP 65

Controller

KR C4

Teach pendant

KUKA smartPAD
8 \ KUKA Robots for Low Payloa ds \ Te chnic al Det ails

KR 5-2 arc HW
Work envelope 1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 5-2 arc HW 1,643 mm 2,430 mm 1,423 mm 967 mm 456 mm 1,063 mm 620 mm 9.8 m3

2486
2486
+170˚
C
+170˚
C
G 200
G 200

-110˚
170

-110˚
170

1000
1000
A

600

-180˚
A

600

-180˚

B
B
400
400

+65˚
+65˚

787
180

787
180 215
215

F E D
F E D

-155°
-155°

C
C
R1
63
R 18
638

+155°
+155°

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
Relative to intersection of axes 4/5.
 9

Features and advantages

DURABLE. Protected routing of the arc welding dress package

in the robot arm results in a longer service life and prevents
the dress package from buckling.

PROCESS-OPTIMIZED. Reduced disruptive contours and large

distance between axis 5 and the robot flange allow welding
deep within the workpiece, enlarge the workspace and offer
better accessibility, even in the case of large workpieces.

RESILIENT. Robust arm design with double-sided mounting of

the robot wrist ensures reduced vibrations during welding and
is resilient in the case of minor collisions.

FAST. Axis 6 is an infinitely rotating axis that does not need to

turn back or “unwind”.
KR 5-2 arc HW
FUTURE-PROOF. Large opening with a diameter of 50 mm,
suitable for all commonly-used dress packages, leaves enough Max. reach 1,423 mm
space for additional fluids in the dress package – making it Rated payload 5 kg
even suitable for water-cooled torches. Rated suppl. load, arm/link arm/rot. column 12/–/20 kg
Maximum total load 37 kg
Pose repeatability ±0.04 mm
SIMPLE HANDLING. The very low weight enables high dynamic Hollow shaft in the wrist flange Ø 50 mm
performance, simple installation and effortless mounting on Number of axes 6
the ceiling. Mounting position Floor, ceiling
Variant –
Robot footprint 324 mm x 324 mm
Weight (excluding controller), approx. 126 kg

Axis data/ Speed with rated

Range of motion payload 5 kg

Axis 1 (A1) + / -155° 156°/s

Axis 2 (A2) +65°/-180° 156°/s
Axis 3 (A3) +170°/-110° 227°/s
Axis 4 (A4) + / -165° 390°/s
Axis 5 (A5) + / -140° 390°/s
Axis 6 (A6) Infinitely rotating 858°/s

Operating conditions

Ambient temperature +10 °C to +55 °C

Protection rating

Protection rating, robot IP 54

Protection rating, in-line wrist IP 54

Controller

KR C4

Teach pendant

KUKA smartPAD
10 \ KUKA Robots for Low Payloa ds \ Te chnic al Det ails

KR 6- 2
Work envelope1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 6-2 2,026 mm 2,412 mm 1,611 mm 1,081 mm 530 mm 1,027 mm 670 mm 14.5 m3

158
G

+154° 158
-130° G
35

+154°
-130°
680

35
A

-155°

B
1320

675 680

+35°
A

-155°

B
1320

+35°
675

260

F E D

260 C

F E D

-185°

-185°

+185°

+185°

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
Relative to intersection of axes 4/5.
 11

Features and advantages

RELIABLE PLANNING. Low disruptive contours and streamlined

design offer outstanding accessibility, even in confined
spaces.

FLEXIBLE. Variable installation variants offer high flexibility

for different applications.

VERSATILE. Large number of application-specific variants

allow flexible range of applications.

DURABLE. Robustness and reliability is the outcome of

experience from 15,000 systems sold.

KR 6 -2

Max. reach 1,611 mm

Rated payload 6 kg
Rated suppl. load, arm/link arm/rot. column 10/–/20 kg
Maximum total load 36 kg
Pose repeatability ±0.05 mm
Number of axes 6
Mounting position Floor, ceiling, wall
Variant –
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 235 kg

Axis data/ Speed with rated

Range of motion payload 6 kg

Axis 1 (A1) + / -185° 156°/s

Axis 2 (A2) +35°/-155° 156°/s
Axis 3 (A3) +154°/-130° 156°/s
Axis 4 (A4) + / -350° 343°/s
Axis 5 (A5) + / -130° 362°/s
Axis 6 (A6) + / -350° 659°/s

Operating conditions

Ambient temperature +5 °C to +55 °C

Protection rating

Protection rating, robot IP 65

Protection rating, in-line wrist IP 65

Controller

KR C4

Teach pendant

KUKA smartPAD
12 \ KUKA Robots for Low Payloa ds \ Te chnic al Det ails

KR 16-2
Work envelope 1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 16-2 2,026 mm 2,412 mm 1,611 mm 1,081 mm 530 mm 1,027 mm 670 mm 14.5 m3

158
G

+154° 158
-130° G
35

+154°
-130°
35
680
A

-155°

B
1320

675 680
A

+35°
-155°

B
1320

+35°
675

260

F E D

260 C

F E D

-185°

-185°

+185°

+185°

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
Relative to intersection of axes 4/5.
 13

Features and advantages

RELIABLE PLANNING. Low disruptive contours and streamlined

design offer outstanding accessibility, even in confined
spaces.

FLEXIBLE. Variable installation variants offer high flexibility

for different applications.

VERSATILE. Large number of application-specific variants

allows flexible range of applications.

DURABLE. Robustness and reliability is the outcome of

experience from 15,000 systems sold.

HEAT-RESISTANT. Available in the Foundry variant for

operation with die-casting machines and other working
environments with high temperatures. KR 16-2

Max. reach 1,611 mm

Rated payload 16 kg
Rated suppl. load, arm/link arm/rot. column 10/variabel/20 kg
Maximum total load 46 kg
Pose repeatability ±0.05 mm
Number of axes 6
Mounting position Floor, ceiling, wall
Variant ,
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 235 kg

Axis data/ Speed with rated

Range of motion payload 16 kg

Axis 1 (A1) + / -185° 156°/s

Axis 2 (A2) +35°/-155° 156°/s
Axis 3 (A3) +154°/-130° 156°/s
Axis 4 (A4) + / -350° 330°/s
Axis 5 (A5) + / -130° 330°/s
Axis 6 (A6) + / -350° 615°/s

Operating conditions

Ambient temperature +5 °C to +55 °C

Protection rating

Protection rating, robot IP 65

Protection rating, in-line wrist IP 65
Protection rating, foundry in-line wrist IP 67

Controller

KR C4

Teach pendant

Variant for cleanrooms

KUKA smartPAD
Variant for environments with a high degree of fouling and high temperatures
14 \ KUKA Robots for Low Payloads \ Te chnic al Det ails

KR 16 -3 S
Work envelope1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 16-3 S 2,025 mm 2,411 mm 1,611 mm 1,081 mm 530 mm 1,027 mm 670 mm 14.5 m3

158
G

+154° 158
-130° G
35

+154°
-130°
35
680
A

-155°

B
1320

675 680
A

+35°
-155°

B
1320

+35°
675

260

F E D

260 C

F E D

-185°

-185°

+185°

+185°

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
Relative to intersection of axes 4/5.
 15

Features and advantages

FAST. With greater drive power in the main axes 1 (axes 1-3),
the high-speed variant of the KR 16-3 S achieves savings of up
to 18 % in cycle times for unloading tasks.

FLEXIBLE. Variable installation variants offer high flexibility

for different applications.

SPACE-OPTIMIZED. Low disruptive contours of the robot and

the streamlined design of the wrist ensure high accessibility,
in confined spaces.

HEAT-RESISTANT. Available in the Foundry variant for operation

with die-casting machines and other working environments
with high temperatures.

KR 16-3 S

Max. reach 1,611 mm

Rated payload 16 kg
Rated suppl. load, arm/link arm/rot. column 10/variabel/20 kg
Maximum total load 46 kg
Pose repeatability ±0.05 mm
Number of axes 6
Mounting position Floor, ceiling
Variant
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 235 kg

Axis data/ Speed with rated

Range of motion payload 16 kg

Axis 1 (A1) + / -185° 192°/s

Axis 2 (A2) +35°/-155° 173°/s
Axis 3 (A3) +154°/-130° 192°/s
Axis 4 (A4) + / -350° 329°/s
Axis 5 (A5) + / -130° 332°/s
Axis 6 (A6) + / -350° 789°/s

Operating conditions

Ambient temperature +5 °C to +55 °C

Protection rating

Protection rating, robot IP 65

Protection rating, in-line wrist IP 65
Protection rating, foundry in-line wrist IP 67

Controller

KR C4

Teach pendant

KUKA smartPAD
Variant for environments with a high degree of fouling and high temperatures
16 \ KUKA Robots for Low Payloa ds \ Te chnic al Det ails

KR 16 L6-2
Work envelope1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 16 L6-2 2,326 mm 3,011 mm 1,911 mm 1,206 mm 705 mm 1,327 mm 970 mm 24 m3

G
115

G
115
-130˚
+154˚
35
-130˚
+154˚
35
A

680

-155˚
A

B
680
1320

-155˚

B
+35˚
1320

675

+35˚
675

260

E D
260

E D

F C

F C

-185˚

-185˚

+185˚

+185˚

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
Relative to intersection of axes 4/5.
 17

Features and advantages

LONG REACH. Extension of the usable workspace, compared

with that of the KR 16 L6-2, with a 300 mm arm extension.

FLEXIBLE. Variable installation variants offer high flexibility

for different applications.

SPACE-OPTIMIZED. Low disruptive contours of the robot and

streamlined design of the wrist ensure high accessibility,
even in confined spaces.

SECURITY OF INVESTMENT. Model from the tried-and-tested,

modular range of standard KR 16 L6-2 robots – ensuring
planning security, high quality and availability.

KR 16-L6-2

Max. reach 1,911 mm

Rated payload 6 kg
Rated suppl. load, arm/link arm/rot. column 10/–/20 kg
Maximum total load 36 kg
Pose repeatability ±0.05 mm
Number of axes 6
Mounting position Floor, ceiling, wall
Variant –
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 240 kg

Axis data/ Speed with rated

Range of motion payload 6 kg

Axis 1 (A1) + / -185° 156°/s

Axis 2 (A2) +35°/-155° 156°/s
Axis 3 (A3) +154°/-130° 156°/s
Axis 4 (A4) + / -350° 335°/s
Axis 5 (A5) + / -130° 335°/s
Axis 6 (A6) + / -350° 647°/s

Operating conditions

Ambient temperature +5 °C to +55 °C

Protection rating

Protection rating, robot IP 65

Protection rating, in-line wrist IP 65

Controller

KR C4

Teach pendant

KUKA smartPAD
 18 \ KUKA Robots for Low Payloads \ Te chnic al Det ails

+154˚

KR 16 arc HW -120˚
200

170
Work envelope1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 16 arc HW 2,051 mm 2,462 mm 1,636 mm 904 mm 732 mm 1,052 mm 675 mm 15.44 m3

680
A

-155˚

B
1355

5 G

+154˚
+35˚
675

-120˚
200
170

F 260
680

E D
A

-155˚

B
C
1355

+35˚
675

F 260

E D

-185°
C

-185°

+185°

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
C

Relative to intersection of axes 4/5.

 19

Features and advantages

SPECIALIZED. Ideally designed robot for arc welding

applications with a payload of 16 kg and a reach of up
to 1,636 mm.

PROTECTED. 58 mm opening in the arm and wrist allows the

arc welding dress package to be routed in the protective
interior of the arm.

FLEXIBLE. Both torsion-type dress packages and infinitely

rotating arc welding dress packages are possible – for better
component accessibility and simplified offline programming.

SPACE-OPTIMIZED. Low disruptive contours of the robot and

the streamlined design of the wrist ensure high accessibility,
even in confined spaces.
KR 16 arc HW

Max. reach 1,636 mm

Rated payload 16 kg
Rated suppl. load, arm/link arm/rot. column 12/–/20 kg
Maximum total load 48 kg
Pose repeatability ±0.04 mm
Hollow shaft in the wrist flange Ø 50 mm
Number of axes 6
Mounting position Floor, ceiling
Variant –
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 245 kg

Axis data/ Speed with rated

Range of motion payload 16 kg

Axis 1 (A1) + / -185° 200°/s

Axis 2 (A2) +35°/-155° 200°/s
Axis 3 (A3) +154°/-120° 195°/s
Axis 4 (A4) + / -165° 370°/s
Axis 5 (A5) + / -130° 310°/s
Axis 6 (A6) Infinitely rotating 610°/s

Operating conditions

Ambient temperature +10 °C to +55 °C

Protection rating

Protection rating, robot IP 54

Protection rating, in-line wrist IP 54

Controller

KR C4

Teach pendant

KUKA smartPAD
 20 \ KUKA Robots for Low Payloads \ Te chnic al Det ails

KR 16 L8 arc HW G

Work envelope1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions

+154˚ E Dimensions F Dimensions G Volume

KR 16 L8 arc HW 2,430 mm 3,220 mm 2,016 mm 1,105 mm 910 mm 1,431 mm 1,062 mm 29.2 m3

-120˚ 200

G
170
A

680

+154˚
1355 -155˚

B
1355

-120˚ 200

+35˚
675
170
A

680

1355 260
-155˚

B
1355

+35˚
675

F E D

C
260

F E D

-185°

-185°
C

+185°
C

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions. +185°
1)
Relative to intersection of axes 4/5.
 21

Features and advantages

SPECIALIZED. Ideally designed robot for arc welding

applications with a payload of 8 kg and a reach of up to
2,016 mm.

PROTECTED. 50 mm opening in the arm and wrist allows the

arc welding dress package to be routed in the protective
interior of the arm.

FLEXIBLE. Both torsion-type dress packages and infinitely

rotating arc welding dress packages are possible – for better
component accessibility and simplified offline programming.

SPACE-OPTIMIZED. Low disruptive contours of the robot and

the streamlined design of the wrist ensure high accessibility,
even in confined spaces.
KR 16 L8 arc HW

Max. reach 2,016 mm

Rated payload 8 kg
Rated suppl. load, arm/link arm/rot. column 12/–/20 kg
Maximum total load 40 kg
Pose repeatability ±0.04 mm
Hollow shaft in the wrist flange Ø 50 mm
Number of axes 6
Mounting position Floor, ceiling
Variant –
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 240 kg

Axis data/ Speed with rated

Range of motion payload 8 kg

Axis 1 (A1) + / -185° 127°/s

Axis 2 (A2) +35°/-155° 130°/s
Axis 3 (A3) +154°/-120° 125°/s
Axis 4 (A4) + / -165° 315°/s
Axis 5 (A5) + / -140° 320°/s
Axis 6 (A6) Infinitely rotating 680°/s

Operating conditions

Ambient temperature +10 °C to +55 °C

Protection rating

Protection rating, robot IP 54

Protection rating, in-line wrist IP 54

Controller

KR C4

Teach pendant

KUKA smartPAD
22 \ KUKA Robots for Low Payloa ds \ A d v ant ag e s an d f un c t io ns

KUKA shelf-mounted robots

for low payloads.
Product overview

Robot KR 16-2 KS
KR 16 L6-2 KS
Controller KR C4
Teach pendant KUKA smartPAD

[+] VERSATILE
FAST [+]

RELIABLE PLANNING [+]

[+] LIGHT

[+] DEEP REACH

 23

Reach
1 2

2,100 mm J

2,000 mm H

1,900 mm F 1 KR 5 arc (A)

KR 5-2 arc HW (B)
KR 6-2 (C)
1,800 mm I 3 KR 16-2 (D)
KR 16-3 S (E)
KR 16 L6-2 (F)
1,700 mm KR 16 arc HW (G)
G
KR 16 L8 arc HW (H)
1,600 mm C D
E KR 16-2 KS (I)
KR 16 L6-2 KS (J)
1,500 mm
2 Axis located further
A B forward for enlarging the
1, 400 mm workspace downward
0 kg 2.5 kg 5 kg 7.5 kg 10 kg 12.5 kg 15 kg 17.5 kg Payload
3 Large work envelope,
low base frame, small
footprint

Advantages and functions

VERSATILE. The intelligent payload and reach intervals allow simple, reliable planning. KUKA also offers
shelf-mounted robots covering a payload range from 16 kg to 270 kg.

LIGHT. KUKA shelf-mounted robots stand out for their low weight. They can be installed directly on
machines with minimum effort, while saving space.

DEEP REACH. KUKA shelf-mounted robots are designed for an especially large downward reach, optimum
access the workspace from above. Due to their low height, they require little space above the
robot base.

FAST. Lightweight, KUKA shelf-mounted robots achieve high dynamic performance and very short cycle
times. Enabling higher productivity and cost-effectiveness with rapid payback.

RELIABLE PLANNING. Each KUKA robot family shares an identical mounting base hole pattern. This allows
different shelf-mounted robots to be used on machines of different sizes – without any additional planning
measures.
24 \ KUKA Robots for Low Payloads \ Te chnic al Det ails

KR 16-2 KS
Work envelope 1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 16-2 KS 1,576 mm 2,691 mm 1,801 mm 1,081 mm 720 mm 453 mm 670 mm 12 m3

G
115
G
115

-130°
+154°
35

880 -130°
+154°
35
A

-110°
680

880
880
A

-110°
680

B
880

B
+80°
235

+80°
235

F 450

E D
F 450
C
E D

-114°

-114°
C
C

+114°

+114°

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
1)
Relative to intersection of axes 4/5.
 25

Features and advantages

VERSATILE. The intelligent payload and reach intervals allow

simple, reliable planning. KUKA also offers shelf-mounted
robots covering a payload range from 16 kg to 270 kg.

LIGHT. KUKA shelf-mounted robots stand out for their low

weight; can be installed directly on machines with minimum
effort, while saving space.

DEEP REACH. KUKA shelf-mounted robots are designed for an

especially large downward reach, optimum access the work-
space from above. Due to their low height, they require little
space above the robot base.

FAST. Lightweight, KUKA shelf-mounted robots achieve high dy-

namic performance and very short cycle times. Enabling higher
productivity and cost-effectiveness with rapid payback.
KR 16 -2 KS
RELIABLE PLANNING. Each KUKA robot family shares an
identical mounting base hole pattern. This allows different Max. reach 1,801 mm
shelf-mounted robots to be used on machines of different Rated payload 16 kg
Rated suppl. load, arm/link arm/rot. column 10/–/20 kg
sizes – without any additional planning measures.
Maximum total load 46 kg
Pose repeatability ±0.05 mm
Number of axes 6
Mounting position Floor, ceiling
Variant –
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 245 kg

Axis data/ Speed with rated

Range of motion payload 16 kg

Axis 1 (A1) + / -114° 120°/s

Axis 2 (A2) +80°/-110° 156°/s
Axis 3 (A3) +154°/-130° 156°/s
Axis 4 (A4) + / -350° 330°/s
Axis 5 (A5) + / -130° 332°/s
Axis 6 (A6) +/-350° 616°/s

Operating conditions

Ambient temperature +5 °C to +55 °C

Protection rating

Protection rating, robot IP 65

Protection rating, in-line wrist IP 65

Controller

KR C4

Teach pendant

KUKA smartPAD
26 \ KUKA Robots for Low Payloads \ Te chnic al Det ails

KR 16 L6 -2 KS
Work envelope1) Dimensions A Dimensions B Dimensions C Dimensions D Dimensions E Dimensions F Dimensions G Volume

KR 16 L6-2 KS 1,876 mm 3,291 mm 2,101 mm 1,210 mm 891 mm 115 753 mm 970 mm 19 m3

G

115
G

+154˚
-130˚
300

35
+154˚
-130˚
A

300

-110˚
35
680
A

880

-110˚

B
680
235
880

B
+80˚
235

450

E +80˚ D
450

E D

403

F C

403

F C
C

-114˚
C

-114˚

+114˚

+114˚

Details provided about the properties and usability of the

products are purely for information purposes and do not
constitute a guarantee of these characteristics. The extent of
goods delivered and services performed is determined by the
subject matter of the specific contract. No liability accepted for
errors or omissions.
1)
Relative to intersection of axes 4/5.
 27

Features and advantages

LONG REACH. Extend the usable workspace of the KR 16-2 KS,

with a 300 mm arm extension.

PROCESS-OPTIMIZED. Locating axis 2 further forward enlarges

the workspace downward; this makes the robot ideal for
unloading machines.

SPACE-OPTIMIZED. Low disruptive contours of the robot and

streamlined design of the wrist ensure high accessibility, even
in confined spaces.

KR 16 L6-2 KS

Max. reach 2,101 mm

Rated payload 6 kg
Rated suppl. load, arm/link arm/rot. column 10/variable/20 kg
Maximum total load 36 kg
Pose repeatability ±0.05 mm
Number of axes 6
Mounting position Floor
Variant –
Robot footprint 500 mm x 500 mm
Weight (excluding controller), approx. 245 kg

Axis data/ Speed with rated

Range of motion payload 6 kg

Axis 1 (A1) + / -114° 120°/s

Axis 2 (A2) +80°/-110° 156°/s
Axis 3 (A3) +154°/-130° 156°/s
Axis 4 (A4) + / -350° 335°/s
Axis 5 (A5) + / -130° 335°/s
Axis 6 (A6) + / -350° 647°/s

Operating conditions

Ambient temperature +5 °C to +55 °C

Protection rating

Protection rating, robot IP 65

Protection rating, in-line wrist IP 65

Controller

KR C4

Teach pendant

KUKA smartPAD
28 \ KUKA Robots for Low Payloads \ A d v ant ag e s an d f un c t io ns

KL 250 -3
Product overview

Linear unit KL 250-3

Designed for robot category low payloads
Controller KR C4
Teach pendant KUKA smartPAD

[+] SPECIALLY FOR LOW PAYLOADS

VERSATILE [+]

[+] FLEXIBLE

PRODUCTIVE [+]

[+] POSITIONALLY ACCURATE

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
 29

Advantages and functions

FLEXIBLE. Long travel extends the work envelope by several

times the reach of the robot.

VERSATILE. Floor-mounted and ceiling-mounted variants are

available, as is a protective cover for keeping out dirt during
tasks in harsh environments.

POSITIONALLY ACCURATE. Up to four robots can be operated

on one linear axis. Multiple robot positions on the linear
axis allow optimal adaptation to existing requirements and
workspaces.

PRODUCTIVE. Moving workpieces/tools with additional

carriages, driven or non-driven (tender carriages) helps to
shorten cycle times.

SPECIALLY FOR LOW PAYLOADS. This linear unit is suitable

for robots with a payload from 5 to 16 kg.

KL 250-3

Number of carriages 4
Maximum rated travel 30,100 mm
Speed with rated payload 1.46 m/s
Pose repeatability < ±0.02 mm
Number of axes 1
Variant
Mounting position Floor, ceiling
Mass of carriage 95 kg
Mass of rated payload 300 kg
Mass of beam per meter 175 kg
Minimum rated travel 1,100 mm
Gradation of rated travel 500 mm
Transmission of force Rack

Operating conditions Specifications for the mechanical unit

Ambient temperature +10 °C to +55 °C

Controller

KR C4

Teach pendant

KUKA smartPAD

Covered version
30 \ KUKA Robots for Low Payloads \ KUKA Sy stem Components
An unbeatable team.
Product overview
[+] FASTER AS A TEAM
Robots and other kinematic systems
NO MATTER WHICH ROBOT YOU OPT FOR KUKA OFFERS YOU
THE MATCHING SYSTEM COMPONENTS. KUKA robots embody
all the essential characteristics of future-oriented robot
technology. KUKA robots are more reliable and more flexible
than ever with the ability to master heavy loads and long
reaches with extreme precision. Thanks to an outstanding
availability of nearly 100 %, KUKA robots make the automation
processes easier than ever before.
99.995 %
[+] SAFER AS A TEAM
System controller: KR C4
KR C4 – THE CONTROL SYSTEM OF THE FUTURE. More
powerful and safer, with more flexibility. Its open architec-
ture can manage all kinematic systems and even complete
production lines. The KR C4 provides a firm foundation for the
automation of tomorrow. This significantly reduces your costs
in automation for integration and maintenance. At the same
time the long-term efficiency and flexibility of the systems
are increased. The KR C4 gives you the necessary openness
to meet the requirements of tomorrow’s markets.
AVAIL ABILIT Y. ROBUST AND
LOW ON MAINTENANCE, THIS
UNBEATABLE TEAM WORKS
NON-STOP ON YOUR SUCCESS.

[+] SIMPLER AS A TEAM
Teach pendant: KUKA smartPAD
THE SIMPLEST WAY OF OPERATING ROBOTS. Touch screen.
Graphics support. Flexible interaction. The large touch screen
of the KUKA smartPAD allows operation of both robots and
entire systems, all visually represented on the screen. The
display adapts to show the user only those operator control
elements that are needed at any given moment. Attention
is always focused on what is important, allowing users to
work more intuitively, quickly, easily and efficiently.
31
[+] MORE VERSATILE AS A TEAM
Function and technology packages
AN OPTIMALLY PREPARED, EFFICIENT SOFTWARE SOLUTION
FOR EVERY TASK. KUKA function and technology packages
breathe life into the KUKA robots. They enable them to carry
out particular industry-specific functions within an automa-
tion solution. Gluing, moving, machining, measuring, hand-
ling or working together with humans or other synchronized
robots: KUKA function and technology packages make auto-
mation easy.
32 \ KUKA Robots for Low Payloads \ KUKA Sy stem Components

KR C4
The control system of the future

MORE POWERFUL, SAFER, MORE FLEXIBLE, AND MORE INTELLIGENT. The KR C4 has been created for the automation of today
and tomorrow. Thanks to its open architecture it is a master of simple integration. It can communicate in a wide range of
programming languages and is ideally suited to the control of KUKA manipulators. It can carry out a vast range of tasks,
be used for robots of all payload categories, and control entire production lines. With the KR C4 all integrated controllers,
SafetyControl, RobotControl, MotionControl, and LogicControl have a joint database and infrastructure for maximum
performance, scalability, and flexibility.

[+] FOR ALL PAYLOADS

ALL-ROUNDER [+] [+] ±0.002 SEC I/O RESPONSE TIME

UNIVERSAL APPLICATION [+]

[+] ENERGY-EFFICIENT
COMMUNICATION TALENT [+]

ROBUSTNESS [+]

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
 33
2

1 Increased system
availability through
systematic reduction
of hardware, cables
and connectors

2 The passive heat

exchange system, with
596 mm 792 mm separate air circulation
in the inner and outer
zones of the controller,
allows low-maintenance
operation even in dusty
1 environments. Entirely
without filter mats.

960 mm
3 Dimensions of the KR C4

Features and advantages KR C4 controller

Type KR C4
ALL-ROUNDER. Safety, Robot, Logic and MotionControl – the Processor Multi-core technology
KR C4 combines everything in a single controller allowing Hard drive HDD, SSD optional
effortless control of the entire system. Interface USB, EtherNet
Field buses PROFINET, EtherNet/IP, PROFIBUS, DeviceNet, EtherCAT, Interbus
Max. number of axes 8
UNIVERSAL APPLICATION. The open architecture of the KR C4
Protection rating IP 54
can control not only KUKA robots but also external axes – for Dimensions (D x W x H) 596 mm x 792 mm x 960 mm
maximum flexibility, scalability, performance and openness, Weight 150 kg
in minimum space.
Power supply connection
FOR ALL PAYLOADS. The KR C4 is the uniform controller for
all KUKA robots, ranging from the low to high payload range Rated supply voltage 3 x 400-480 V AC
categories. Permissible tolerance of rated voltage -10 to +10 %
Mains frequency 49 to 61 Hz
Mains-side fusing min. 3 x 25 A slow-blowing, max. 3 x 32 A slow-blowing
COMMUNICATION TALENT. In addition to its own robot lan-
guage KRL, the KR C4 understands the language of the CNC
Operating conditions
machining world (G-code) and the language of PLCs, enabling
it to communicate directly with your Siemens® or Rockwell® Ambient temperature +5 °C to +45 °C
controller. Ambient temperature with cooling unit optionally up to +50 °C

ROBUSTNESS. The consistent choice of durable components

and well-designed cabinet ensure long-term, reliable
operation, even in extreme conditions.

±0.002 SEC I/O RESPONSE TIME. Secure data exchange

measured in milliseconds forms the basis for new safety
concepts in human-machine cooperation.

ENERGY-EFFICIENT. The new energy management system

allows the energy consumption of the controller to be
reduced by up to 95 %* in standby mode. The improved coo-
ling concept, combined with a temperature-controlled fan,
further reduces the power dissipation of the controller, while
making operation considerably quieter.

* in standby mode and Ecomode.

34 \ KUKA Robots for Low Payloads \ KUKA Sy stem Components

KUKA smartPAD
KUKA smartPAD – Making robot operation really easy

TOUCH SCREEN. GRAPHICS SUPPORT. FLEXIBLE INTERACTION. The more diverse the robots’ abilities become, the greater
the importance of intuitive user interfaces for their operation. The new KUKA smartPAD brilliantly demonstrates on a
large antireflection touch screen just how simple it can be. Intelligent, interactive dialogs provide the user with those
operator control elements that are currently required. This makes work easier, faster, more efficient, and simply smarter
all-round.

[+] INTEGR ATED USB CONNECTION

[+] UNIVERSAL APPLICATION

ANTIREFLECTION TOUCH DISPL AY [+]

ERGONOMICALLY OPTIMIZED [+]

[+] HOT-PLUGGABLE

[+] HAPTIC JOG KE YS

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
 35

1 Simple, intuitive
operator control
via touch screen

2 Ergonomic 6D mouse

Features and advantages Teach pendant: KUKA smartPAD

Type KUKA smartPAD

UNIVERSAL APPLICATION. Operate all KUKA robots and KR C4 Display scratch-resistant industrial touch display
controllers with the KUKA smartPAD. Display size 8.4"
Dimensions (D x W x H) 50 mm x 240 mm x 290 mm
ANTIREFLECTION TOUCH DISPLAY. Simple operation via the Weight 1,100 g
well-lit 8.4" screen with an intuitive user interface.

ERGONOMICALLY OPTIMIZED. Designed to be user-friendly.

Built for mobility and its lightweight, just 1,100 grams.

HOT-PLUGGABLE. If the KUKA smartPAD is not being used it

can be simply unplugged during ongoing operation and used
with any other KR C4 controller.

INTEGRATED USB CONNECTION. Direct saving and loading

of configurations now possible via USB port on the KUKA
smartPAD.

HAPTIC JOG KEYS. The combination of haptic jog keys and a

haptically controlled mouse enables intuitive maneuvering
with constant visual contact with the robot.
36 \ KUKA Robots for Low Payloads \ KUKA Sy stem Components

KUKA function and technology packages

Function and technology packages for the KR C4

KUKA function and technology packages help you to solve specific automation tasks efficiently with minimum programming.
KUKA’s portfolio of software solutions cover nearly all common areas of application. Using these packages our KUKA system
partners implement tailored solutions to meet every customer requirement.

KUKA function and technology packages

KUKA.WorkVisual Engineering environment for all KUKA robots for system configuration, programming, data backup,
diagnosis, and more.

KUKA.Load Supports the evaluation of the load on a KUKA robot or the selection of a suitable robot for a given load.

KUKA.UserTech Fast programming of motion and program sequences using freely definable buttons, input masks and parameter
lists.
KUKA.ExpertTech Faster, simpler programming even for non-experts in KRL code via menu-guided command selection.

KUKA.HMI Zenon Creation of customized, application-specific user interfaces for visualization and operator control without
programming knowledge. Display and operation using the touch panel and keys of the KUKA smartPAD.
KUKA.RemoteView Allows remote access to the robot via a secure Internet connection, thereby offering the possibility of remote
diagnosis or start-up support.
KUKA.VirtualRemotePendant Allows the use of EtherNet communication to run the user interface of the KUKA smartPAD on an
external PC and to operate the robot.

KUKA.RobotSensorInterface Supports simple and flexible interfacing with sensors in the KR C4. It is also possible to integrate a number
of channels with hard real-time requirements.
KUKA.VisionTech “onBoard” vision system including image processing, camera and sensors. Extensive configuration options
enable the flexible use of the robot in an unstructured environment. .
KUKA.ConveyorTech Organizes the cooperation of robots and conveyors. Allows efficient, dynamic handling of parts, even for
complex applications.
KUKA.ForceTorqueControl Takes account of process forces and torques exerted on the workpiece during machining, and controls
and adjusts these as specified in the program sequence. In applications such as grinding, polishing,
bending or even assembly, this technology package is an indispensable help.

KUKA.SafeOperation Flexible programming of safe cooperation between humans and machines. Definition of safe workspaces, velo-
cities, envelopes around robot tools, and cooperation with the operator.
KUKA.SafeRangeMonitoring Beginners’ tool for limiting and monitoring the safety and work areas of the robot. The monitoring and limitati-
on of statically defined axis ranges creates an adequate degree of work safety for many applications.

Details provided about the properties and usability of the products are purely for information purposes
and do not constitute a guarantee of these characteristics. The extent of goods delivered and services
performed is determined by the subject matter of the specific contract. No liability accepted for errors
or omissions.
 37

KUKA function and technology packages

KUKA.Gripper & SpotTech Programming of grippers and weld guns via easy-to-use inline forms for many industrial applications.

KUKA.ArcTech For rapid start-up and simple programming of arc welding applications. The complete portfolio of option
packages, in combination with sensors and sequence control, enables arc welding at the highest level.

KUKA.LaserTech A modular, time-saving and easy-to-operate programming support package for laser cutting and laser
welding. Both applications can be executed using the same robot – giving maximum flexibility as the
workpiece needs to be clamped only once.
KUKA.ServoGun Enables the operation of electric motor-driven spot weld guns with the KUKA robot controller. Vari-
ous additional software options allow e.g. the elimination of mechanical gun compensation and other
functions.
KUKA.GlueTech Enables user-friendly programming of dispensing applications such as bonding, seam sealing or
application of support seams using inline forms on the KUKA robot controller.

KUKA.RoboTeam Coordinates and enables the high-precision interaction of a team of robots for handling a shared load or
for working together on a moving workpiece.

KUKA.EtherNet KRL Makes it possible to exchange data with external computers via the EtherNet interface. The robot can
function here both as a client and as a server.
KUKA.OPC-Server Basic technology for standardized data exchange between robots and external controllers for non-real-time
information streams. Ideal for interfacing with external visualization and MES systems.
KUKA.PLC Multiprog Programming environment for an extremely fast Soft PLC conforming to the IEC61131 standard. Expands the
functionality of the KR C4 and offers virtually unlimited openness in the programming of automation cells and
applications.
KUKA.PLC ProConOS Runtime system of the KUKA.PLC Multiprog Soft PLC. PLC programs created with KUKA.Multiprog are run
directly on the KR C4, with full access to the entire I/O system of the robot. Reading and processing of variables
such as axis positions and velocity via function blocks.
KUKA.PLC mxA Allows direct commanding and positioning of the robot by external controllers (Siemens®, Rockwell®,
etc.). The user thus requires no knowledge of robot programming in the KUKA-specific robot language
KRL.
KUKA.CNC Complete software-based CNC implementation for execution of machine tool code (G-code) directly on
the robot controller. This turns the robot, with its accuracy and stiffness, into a machining center for
path-supported processes.

KUKA.Sim The simulation programs of KUKA.Sim allow robotic cells to be planned with true-to-life accuracy.
weiskind.com

Contact KUKA at:

www.contact.kuka-robotics.com

www.facebook.com/KUKA.Robotics
www.youtube.com/kukarobotgroup

Details provided about the properties and usability

PB0002/E/3/0514

of the products are purely for information purposes

and do not constitute a guarantee of these charac-
teristics. The extent of goods delivered and services
performed is determined by the subject matter of
the specific contract. No liability accepted for errors
or omissions.