Fig. 9-25: Securing robot arm
9.5.1.7 Concluding work
The following concluding work must be carried out:
• Move A4, A5 and A6 of the robot and look out for irregularities.
• Carry out mastering of A4, A5 and A6.
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).
9.5.2 Exchanging motor A5
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.
Equipment
The following equipment is required:
Designation Article number
Lifting tackle / rope sling with sufficient
load-bearing capacity
-
Crane with sufficient load-bearing capaci-
ty
-
KR IONTEC
264/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Repair
To Next Page
Loading...
Need help?
General
