91 / 151Issued: 16.06.2010 Version: MA KL 1500-3 T S 141215 V1 en
11. Repair
3. Secure the carriage so that it cannot be moved unintentionally.
4. Lower the carriage fully, and remove the lifting tackle.
5. Bring all eccentric rollers into position: using a torque wrench, turn in a
counterclockwise direction the eccentric on the square of the eccentric roll-
er (E). The roller is engaged with the track. Tighten the hexagon nut with
a torque wrench.
For tightening torques, see the following table.
6. Install the drive assembly as described in Section (>>> 11.1.2 "Installing
the drive assembly" page 74).
7. Push the cleaning brushes at the upper rollers onto the track and fasten
them.
8. In the case of a tender carriage, reinstall the connecting bolts on the driven
carriage.
9. Install the bar with crash elements.
10. Fasten the energy supply chain to the driver.
11. Connect the equipotential bonding (ground conductor) on the carriage.
12. Install the robot in accordance with the operating instructions.
13. Carry out mastering of the linear unit.
11.6.3 Removing the carriage from above
Preconditions If the carriage to be removed is rigidly connected to a second carriage
(tender arrangement), they must be disconnected prior to the removal.
All connecting cables must be disconnected at the robot. The energy sup-
ply chain must be removed from the carriage.
Any optional components of the linear unit that would hinder the removal
work must be dismounted.
Procedure 1. Remove the robot in accordance with the operating instructions.
2. Release and unplug the equipotential bonding (ground conductor) on the
carriage.
3. Unscrew the energy supply chain from the driver and set it down.
4. Remove the drive assembly as described in Section
(>>> 11.1.1 "Removing the drive assembly" page 73).
5. Determine a suitable track for removal.
6. Move all carriages (>>> Fig. 11-16) away from this track. The carriage to
be removed must be situated to the side of the track to be removed.
Roller Eccentric Hexagon nut
Ø72 22 Nm 150 Nm
Ø110 55 Nm 380 Nm
Further information about mastering is contained in the operating and pro-
gramming instructions for the KUKA System Software.
Warning!
Unintentional motion of the robot and the linear unit can result in danger to
persons and materials. If the robot and the linear unit have reached their dis-
assembly position, shut down the system and take measures to prevent it
from being switched on again unintentionally. If several robots or linear units
are in a system, these must also be switched off and secured against being
switched on again unintentionally.
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