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8. Start-up and recommissioning
19. Install the energy supply system; see Section (>>> 8.6 "Installing the en-
ergy supply system" page 62).
20. Connect the equipotential bonding (ground conductor) on the carriage.
21. Install the robot in accordance with the operating instructions.
22. Put the linear unit into operation in accordance with the “Start-up” chapter
of the operating and programming instructions for the KUKA System Soft-
ware (KSS) and the “Start-up” chapter of the operating instructions for the
robot controller.
8.5 Removing a linear unit with a beam made up of several parts
Preconditions The removal site is accessible with a fork lift truck or with a crane. Observe
the minimum payload capacity.
If a working range monitoring system is fitted, the cams must be removed
at the beam joint.
Procedure 1. Remove the robot in accordance with the operating instructions.
2. Release and unplug the equipotential bonding (ground conductor) on the
carriage.
3. Remove the energy supply system; see Section (>>> 8.7 "Removing the
energy supply system" page 64).
4. Remove the track covers, tracks and racks at the beam joint.
5. Slacken and remove the nut, and pull the hexagon bolt (>>> Fig. 8-6) (4)
out of the connecting assembly.
6. Remove the hexagon bolts (7, 9) and lock washers.
7. Separate the beam sections.
8. Clean the tracks and racks and protect them against corrosion.
9. Lift up and remove the beam sections using a crane or a fork lift truck.
10. If the linear unit is not to be reinstalled, it must be protected against corro-
sion in accordance with (>>> 13 "Decommissioning, storage and dispos-
al" page 103) before being put into storage.
Warning!
Unintentional motions of the linear unit, the robot and affected system com-
ponents can cause injuries and damage to property. If work is carried out on
an operational linear unit, the linear unit, the robot and affected system com-
ponents must be secured by activating the EMERGENCY STOP button.
Warn all persons concerned before putting it back into operation.
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