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KUKA KR20 R3100

The wooden frame painting robot system consists of:
KUKA IONTEC KR20R3100 robot with KRC4 controller and 7th axis integration
7th axis linear track with servo drive and robot lifting system
Control cabinet with a 15” touchscreen interface
Beckhoff Safety system with the option to connect safety light barriers or safety mats
Spray control system with 4 proportional valves and solenoid valves
Automatic nozzle cleaning unit
8 digital inputs / 8 digital outputs for communication with the conveyor and rotation systems

3. Technical Specifications
Parameter
Value
Working range
L = 4,000 mm × H = 2,500 mm
7th axis track length
6,000 mm
Maximum robot axis speed
700 mm/s
Adjustable painting speed
50–400 mm/s
Compressed air requirement
8 bar (1,250 l/min)
Power supply
~3 × 400 V, 50 Hz
Scanner resolution
7 mm × 7 mm
Installed power
15 kW
Maximum tool weight
20 kg

4. Frame Recognition and Scanning System
The scanning system consists of:
Industrial scanner
Encoder
Dedicated software with an automatic program generator
The system detects:
Object shape
Position relative to the traverse
Contours
Based on scanning data and operator-defined parameters, the software automatically generates the optimal painting program for the robot.

5. Flexible Recipe System
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Surface coating quality depends on adjustable, operator-defined parameters. The system allows the creation of unlimited product recipes depending on:
Product type
Product size
Frame configuration (frame, sash, panel)
Profile type
Large and small format frames
Separate parameter sets ensure optimal paint coverage for each product type.
Adjustable Parameters:
Robot painting speed
Spray gun angle relative to the product
Spray gun distance from the product
Spray start and stop delay
Paint reduction at intersections and corners
Product thickness
Spray penetration depth for internal surfaces
Air flow regulation
Paint pressure control

6. Painting Process Sequence
1. External surface coating
2. Internal surface coating
3. Final facade finishing layer
This sequence ensures complete and uniform coverage of all surfaces.

7. Supported Products
The software can automatically generate painting programs for:
Standard rectangular European windows (without additional trims), where the internal opening painting surface ≥ 350 mm
Flat-surface
Closed door frames mounted on a traverse (no open ends)

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