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BA KR 6, 16 F, KR C4 12.10.07 en
7.9 Exchange
To avoid the need for any major reprogramming after an exchange, the instructions given in
the Operating Handbook, Software KR C4, Chapter “Start--up”, Section “Robot Mastering/
Unmastering” must be accurately carried out every time a robot is exchanged.
7.9.1 Exchanging floor--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.
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