KR 3 R400 Z120 CS CR SCARA Robotic Arm (Manipulator)
Ultra-clean, safeguarding high technology. In highly sensitive industries such as semiconductors, pharmaceuticals, and precision electronics, where even a speck of dust can affect quality, the KR SCARA CS CR cleanroom robot is designed for dust-free environments, preventing dust and static electricity, achieving "zero pollution" operation, and easily overcoming demanding production challenges.
Specifications of the KR 3 R400 Z120 CS CR
Ultra-clean, safeguarding high technology. In highly sensitive industries such as semiconductors, pharmaceuticals, and precision electronics, where even a speck of dust can affect quality, the KR SCARA CS CR cleanroom robot is designed for dust-free environments, preventing dust and static electricity, achieving "zero pollution" operation, and easily overcoming demanding production challenges.
SCARA Robot · Series technical features
KR SCARA Series: 6-60kg load capacity, high-speed assembly, pick-and-place placement, and cleanroom applications, including CS/CR/HO/X structures.
6-60kg assembly pick-and-place with repeatability of ±0.01mm.
CS/CR clean, HO food-grade, X high load multi-form.
Typical application scenarios
Common application processes for this model (click to view process details):
SCARA Robot · Other models in the same series
Compare load and reach to choose the model that best suits your process.
KR 3 R400 Z120 CS CR model positioning and working condition adaptation
KR 3 R400 Z120 CS CR The SCARA horizontal multi-joint robot model belongs to KUKA SCARA Robot, with a rated load of 3kg, a motion radius of 400mm, and repeatability of ±0.01mm. KUKA's technical foundation is KRL's clear program structure, PC-based control architecture is open, and there is a large stock of automotive welding lines; The control platform is KR CS Box-2, and the program ecosystem consists of KRL language + smartPAD teach pendant.
From the perspective of working condition adaptation, typical applications for small load (3kg) positioning are:High-speed sorting, precision assembly, dispensing coating, and inspection/pick-and-place processing。 The short arm (400mm) model has a compact structure, suitable for dense workstations and close-range pick-and-place operations, with a small work unit footprint. ± 0.01mm repeatability is precision-grade, meeting the trajectory requirements for precision assembly, dispensing, and inspection guidance. Although the load is light, it is recommended to keep the total weight of the end and workpiece within 70% of the rated value, leaving ample acceleration margin at high speeds.
| Parameters | Engineering interpretation and usage recommendations |
|---|---|
| Rated load 3kg | It is recommended to reserve a load margin of 20%–30%; Verification is made by combining end self-weight + workpiece + imbalanced load inertia, especially sensitive to high-speed conditions |
| Movement radius: 400mm | Determine the radius of the workcell layout: bins, tooling, and fences are bounded by maximum arm span + safety distance; Verify the accessibility of each pick-and-place point during cross-station service |
| Repeatability: ±0.01mm | Repeatability ≠ absolute accuracy: Precision assembly requires external measurement closed-loop or visual guidance; Long-term accuracy trends rely on annual retest management |
| Number of axes: 4 | The four-axis structure has a clear speed advantage within the horizontal plane, while Z-direction travel and attitude freedom are limited, making it suitable for flat sorting and assembly |
| Protection rating: IP20 | Suitable for standard workshop environments; Dusty and moisture-prone workstations require additional protective kits or positive pressure protection |
| Main unit weight: 14kg | Installation base and foundation load-bearing check based on weight + dynamic load; Floor slab installation requires structural calculation, with heavy-duty models serving as independent foundations |
| Controller: KR CS Box-2 | Decide on the process ecosystem, spare parts channels, and second-hand residual value; Currently, spare parts channels are smooth, and repair and upgrade paths are mature |
Control systems and common failure modes
The KR CS Box-2 controller accompanying the KR 3 R400 Z120 CS CR features a programming language and development environment of KRL + smartPAD teach pendant. Maintenance of this generation of control platforms focuses on three basic components: power, storage, and cooling—most "sudden downtime" can be detected in advance when preventive maintenance is in place.
| Failure mode | Typical performance | Disposal recommendations |
|---|---|---|
| KRC4 power module | KRC4 power module (KPP/KSP) fault and fuse blown | Included as a mandatory inspection item for annual maintenance, with spare parts stocked in advance |
| Windows system disk aging and damage | Windows system disk aging and damage (KRC4 is Windows-based, mechanical hard drives are a weak link) | Initial interpretation of alarm codes by reference with manuals, remote diagnosis allows for early positioning |
| Control cabinet fan unit and temperature control fault | Control cabinet fan unit and temperature control fault | Daily inspection coverage, with abnormal trends (abnormal noises/temperature rise/errors) recorded |
| DSE/RDC board communication failure | DSE/RDC board communication fault (rotary transformer link) | Quarterly dust removal maintenance and cabinet temperature monitoring |
| Maintenance projects | Cycle recommendations | Key points |
|---|---|---|
| Regular system image backup (hard drive failure under Windows architecture can be quickly restored) | Periodically | Regular system image backup (hard drive failure under Windows architecture can be quickly restored) |
| It is recommended to upgrade the SSD or replace the mechanical hard drive periodically | By cycle | It is recommended to upgrade the SSD or replace the mechanical hard drive periodically |
| Replace the battery prompt prompted by the alarm (KSD/RDC related data) | According to the manufacturer's manual cycle | Replace the battery prompt prompted by the alarm (KSD/RDC related data) |
| Cable and drag chain inspection | every six months | Insulation, shielding, and bending radius inspection of power and encoder lines, as well as wear of cables inside the drag chain, are the main causes of intermittent faults |
| Zero point and accuracy retest | Every year | Repeatability measured by dial gauges or laser trackers, drift trend digitization—accuracy degradation can be seen six months in advance |
| Control cabinet dust removal and fans | Every quarter | Filter cleaning, fan speed and noise checks, cabinet temperature recording; Dust environments shorten the cycle |
Henghuan's service capabilities for the KR 3 R400 Z120 CS CR
This site is a third-party robotics technology service provider. The eight major business supports related to the KR 3 R400 Z120 CS CR are as follows (sorted by service frequency for each model):
- Maintenance and repair: For on-site diagnostics, board-level repairs, and annual maintenance contracts for KR 3 R400 Z120 CS CR, we follow SOPs and respond to Sichuan-Chongqing same-day responses.
- Used & in-stock robot sales: The automotive industry has a large volume of retirements, with active circulation of used KRC2/KRC4 units; KR C2 has long been discontinued; confirm spare parts channels before purchasing; In-house models KR 3, R400, Z120 CS, CR, or equivalent come with a full-function test report and a 12-month warranty.
- Sales of new industrial robots: When adding new production lines or replacing batches, we conduct cross-brand selection comparisons based on process requirements (including models of the same level as KUKA), and provide configuration and pricing plans.
- Applied technology services:Process programming, trajectory optimization, tap time tapping, and changeover formula management for KR 3 R400 Z120 CS CR, with targeted commissioning for general and cleanroom operating conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fences for KR 3 R400 Z120 CS CR, with interfaces designed according to KUKA flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, you can rent KR 3 R400 Z120 CS CR equivalent in-stock models, including transportation, installation, and commissioning, with flexible rental terms and repurchasing.
Common issues with this device
Is it easy to find spare parts for the KR 3 R400 Z120 CS CR?
KUKA: Spare parts channels for this generation are smooth; we have in-stock or short-cycle channels for standard parts such as drivers, power modules, batteries, and teach pendant components; It is recommended to configure consumables for system image periodic backup (hard drive failures can be quickly restored under Windows architecture) according to the annual maintenance contract.
With a rated load of 3kg, how much weight can it actually handle?
The rated load is the static load limit of the flange surface. In actual selection, three factors must be considered: the self-weight of the end fixture (vacuum suction cup groups or grippers often account for 2–5kg), the inertia generated by the workpiece offload (checked according to the inertia ratio when the center of gravity deviates from the flange center), and the dynamic load during high-speed movement. The conventional engineering practice is to keep the "end + workpiece" within 70%–80% of the rated value to ensure cycle time and service life.
If the equipment's accuracy deteriorates after several years of use, how can it be restored?
According to the inspection order: first check whether the zero point is drifting (common after collision or battery depletion), then perform zero calibration; Check the reducer's return error (actual measurement of forward and reverse positioning deviation; if exceeded, disassemble or replace); Then check the installation base fastening and foundation settlement; Finally, trajectory compensation parameter restructuring. Most accuracy issues can be mostly restored after calibration and maintenance, so there is no need to rush into major repairs—we first release the inspection data before deciding on the plan.
Is the used KR 3 R400 Z120 CS CR worth buying?
The automotive industry has a large volume of retirements, with active circulation of used KRC2/KRC4 units; The KR C2 has long been discontinued; confirm spare parts channels before purchasing. Three essential items for second-hand procurement: comprehensive inspection reports (axial accuracy, driver status, insulation and battery), maintenance history and operating hours, controller generation, and software license integrity. Every used machine we sell comes with inspection records and a 12-month warranty, and we can also accept third-party inspections designated by customers.
Need technical support or procurement for this model?
Whether it's model selection comparison, installation and commissioning, or maintenance of in-use equipment, you can contact Henghuan. Tell us about your processes, loads, and equipment status, and we will provide third-party technical support and solution recommendations.
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