Kuka KR AGILUS sixx, Assembly Instructions Manual

Page: 103 / 141

103 / 141 Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
8 Start-up and recommissioning
The mounting base is now ready for the robot to be installed.
8.3 Installing a floor-mounted robot
Description
This description is valid for the installation of floor-mounted robots.
4 hexagon bolts with conical spring washers are used for fastening the robot
to the bedplate or to a machine frame. A cylindrical pin and a flat-sided pin are
provided to ensure correct positioning.
The installation and start-up of the robot controller, the tools mounted and the
applications are not described here.
Precondition 
The mounting base is installed.

The installation site is accessible with a crane.

Any tools or other system components which would hinder the work have
been removed.

The robot is in the transport position.

The connecting cables and ground conductors are routed to the robot and
installed.
Procedure
1. Check that the pins are undamaged and fitted securely ( >>> Fig. 8-3 ).
2. Bring the robot to the installation site with the crane.
3. Carefully lower the robot vertically onto the mounting surface. Ensure that
an entirely vertical position is maintained in order to prevent damage to the
pins.
4. Insert 4 M10x35 hexagon bolts together with conical spring washers.
5. Tighten 4 M10x35 hexagon bolts with the torque wrench in diagonally op-
posite sequence. Gradually increase the tightening torque to 45 Nm.
6. Remove the lifting tackle.
7. Connect motor cable X30 and data cable X31.
8. Connect the ground conductor between the robot controller and the robot
to the ground conductor connection.
9. Connect the ground conductor between the system component and the ro-
bot to the ground conductor connection.
10. Check the equipotential bonding in accordance with VDE 0100 and EN
60204-1.
Fig. 8-2: Installation of the machine frame mounting assembly
1 Hexagon bolt (8x) 3 Pin
2 Mounting surface