Fig. 9-12: Securing robot arm
9.3.7 Concluding work
The following concluding work must be carried out:
• Move A3 of the robot and look out for irregularities.
• Carry out mastering of A3.
Detailed information about mastering is contained in the operating
and programming instructions for end users or system integrators.
• Test the program in Manual Reduced Velocity mode (T1).
9.4 KR IONTEC Foundry
9.4.1 Exchanging motor A1
Description
The following instructions describe the exchange of the motor. This de-
scription applies to floor-mounted robots. If the robot is installed in an in-
clined or suspended position, the procedure is to be applied analogously.
During removal of the motor, the robot can independently move about this
axis. Mechanical auxiliary equipment (e.g. support, crane) or a stable end
position (e.g. buffer) can be used to secure against motions.
KR IONTEC
246/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Repair
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