Table 1 Motors and transmission elements... | Emerald Publishing

Table 1

Motors and transmission elements installed in the joints of the KUKA KR 210 R2700 prime robot

Joint	Motor	Reducer	Reduction ratio (overall)	Motor feedback resolution (single turn)
1	Simotics 1FK7101	Nabtesco RV 700 CS	256.86	$2^{18}$ bit
2	Simotics 1FK7101	Nabtesco RV 700 N	252.91	$2^{18}$ bit
3	Simotics 1FK7101	Nabtesco RV 500 N	236.37	$2^{18}$ bit
4	Simotics 1FK7063	Nabtesco RV 160 N + spur gear + input shaft	198.90	$2^{18}$ bit
5	Simotics 1FK7063	Nabtesco RV 160 N + bevel gears + input shaft	209.67	$2^{18}$ bit
6	Simotics 1FK7063	Nabtesco RV 100 N + bevel gears	131.15	$2^{18}$ bit

Joint	Motor	Reducer	Reduction ratio (overall)	Motor feedback resolution (single turn)
1	Simotics 1FK7101	Nabtesco RV 700 CS	256.86	$2^{18}$ bit
2	Simotics 1FK7101	Nabtesco RV 700 N	252.91	$2^{18}$ bit
3	Simotics 1FK7101	Nabtesco RV 500 N	236.37	$2^{18}$ bit
4	Simotics 1FK7063	Nabtesco RV 160 N + spur gear + input shaft	198.90	$2^{18}$ bit
5	Simotics 1FK7063	Nabtesco RV 160 N + bevel gears + input shaft	209.67	$2^{18}$ bit
6	Simotics 1FK7063	Nabtesco RV 100 N + bevel gears	131.15	$2^{18}$ bit

Note(s):

Info retrieved from KUKA (2026) and direct physical observation

Source(s): Authors’ own work