Kuka KR 6-2 - 7.8 Wall-mounted manipulators

Operating Instructions
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BA KR 6, 16 F, KR C4 12.10.07 en
7.8 Wall--mounted manipulators
Information!
Observe Section 7.1!
7.8 .1 Installing wall--mounted manipulators in the 0˚ position
The procedure for mounting the manipulator on the wall (whether for the first time or as an
exchange) is as follows:
Warning!
The manipulator must be transported in its transport position (Fig. 66) to the point
from where it can be raised by the crane for the purpose of installation.
(1) Check that both locating pins (Fig. 65/1) are undamaged and fitted securely.
1
Fig. 65 Locating pin
Notice!
Damaged locating pins must be replaced by new ones.
A1 A2 A3 A4 A5 A6
0˚
---155˚ +154˚ 0˚ 0˚ 0˚*
* All angles are specified relative to the electrical “zero position”
or to the KCP display.
1078
G = 235 kg KR 6, KR 16
240 kg KR 16 L6
552
G
19
1115
1)
1184
2)
1416
3)
686
1)
711
2)
686
3)
1)
KR 6
2)
KR 16
3)
KR 16 L6
Fig. 66 Transport position for wall --mounted manipulators