Kuka KR 6-2 - Exchanging Ceiling-Mounted Robots

Operating Instructions
102 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
7.9.2 Exchanging ceiling--mounted robots
D Removal
Warning!
Turn main switch on the robot control cabinet to “OFF” and secure it with a
padlock to prevent unauthorized persons from switching it on again.
(1) Remove the end--effector (tool) and additional equipment.
Information!
The end--effector and additional equipment have to be removed if the robot is to be re-
placed by another one or if they would otherwise impede the exchange work.
Caution!
If the end --effector and additional equipment remain on the robot, this is liable to
lead to adverse centers of gravity and collisions. The user is deemed
responsible for any damage resulting in this respect.
Warning!
Before performing the next step, it must be ensured that it is not possible for
anyone to be injured within the range of the slowly moving robot.
The robot may only be moved at jog speed, with all applicable safety rules and
regulations being observed.
(2) Put the manipulator into operation and move it into the transport position (Fig. 74).
A1 A2 A3 A4 A6 A6
0˚
---155˚ +154˚ 0˚ 0˚ 0˚ *
* All angles are specified relative to the electrical “zero position” or to the KCP display.
1115
1)
1184
2)
1416
3)
G = 235 kg KR 6, KR 16
240 kg KR 16 L6
552
G
19
1)
KR 6
2)
KR 16
3)
KR 16 L6
686
1)
711
2)
686
3)
1075
Fig. 74 Transport position for ceiling--mounted manipulators