Kuka IONTEC KR 20 R3100, Assembly Instructions Manual

Page: 272 / 344

Fig. 9-32: Securing robot arm
9.5.2.7 Concluding work
The following concluding work must be carried out:
• Move A4, A5 and A6 of the robot and look out for irregularities.
• Carry out mastering of A4, A5 and A6.
Detailed information about mastering is contained in the operating
and programming instructions for end users or system integrators.
• Test the program in Manual Reduced Velocity mode (T1).
9.5.3 Exchanging motor A6 and in-line wrist
Description
The following instructions describe the exchange of the motor and in-line
wrist. This description applies to floor-mounted robots. If the robot is in-
stalled in an inclined or suspended position, the procedure is to be
applied analogously.
During removal of the motor and in-line wrist, the robot can independently
move about this axis. Mechanical auxiliary equipment (e.g. support, crane)
or a stable end position (e.g. buffer) can be used to secure against mo-
tions.
Equipment
The following equipment is required:
KR IONTEC
272/344 | www.kuka.com MA KR IONTEC V4 | Issued: 11.05.2021
Repair