Kuka KR 6-2 - Variant 2: Machine Frame Mounting with Centering

Operating Instructions
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BA KR 6, 16 F, KR C4 12.10.07 en
7.4.3 Variant 2: machine frame mounting with centering
Features:
-- For floor--, wall-- and ceiling--mounted manipulators.
-- Manipulator installed on a steel structure prepared by the customer (or on a linear
unit of series KL 250).
-- Manipulator fastened by means of three M20x55 ISO4017 hexagon bolts.
Installation
(1) Prepare mounting surfaces (Fig. 58/2) on steel structure in accordance with Fig. 58.
(2) Prepare three M20 tapped holes for the fastening screws (3) and two holes for the locat-
ing pins (1, 4).
(3) Insert locating pins (1, 4).
Information!
The intended installation position of the manipulator, i.e. the correct orientation in rela-
tion to the working envelope (Fig. 50/1), must be taken into account when drilling the
holes.
Information!
The position of the locating pins in relation to the working envelope is important:
Looking forwards from the manipulator towards the working envelope -- the arm of the
manipulator points in this direction when A1 is in its zero position -- the locating pins (1)
and (4) must be situated at the rear.
The foundation is now ready for the manipulator to be installed. The procedure for installing
the manipulator is described in Section 7.6 for floor--mounted manipulators, and in Section
7.7 for ceiling--mounted manipulators.