Kuka KR 30 HA, Assembly Instructions Manual

Page: 74 / 122

Assembly Instructions
74 of 122
MA KR 30, 60 HA, KR C4 04.11.02 en
7.4.2 Variant 2, machine frame mounting
Features:
-- For floor--mounted and ceiling--mounted manipulators.
-- Manipulator installed on a steel structure prepared by the customer, on a steel
pedestal or on a linear unit of the KL 1500 series.
-- Manipulator fastened by means of six M20x55 ISO 4017 hexagon bolts.
F
Installation
(1) Prepare the mounting surfaces (Fig. 45/2) on the steel structure in accordance with
Fig. 45.
Information!
The maximum permissible difference in level between the individual mounting surfaces
(2) is 0.5 mm.
(2) Prepare six M20 tapped holes for the fastening screws (3) and two locating holes for
the locating pins (1, 4).
(3) Insert the 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. 41/1), must be taken into account when drilling the
holes.
Information!
The position of the different locating pins in relation to the working envelope is impor-
tant:
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 long locating
pin (1) must be on the left and the short locating pin (4) must be situated on the right.