Kuka KR 30 HA, Руководство по сборке

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Assembly Instructions
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MA KR 30, 60 HA, KR C4 04.11.02 en
7.5.2 Ceiling--mounted manipulators
This description applies to all mounting variants for ceiling--mounted robots only, as de-
scribed in Sections 7.4.2 and 7.4.3. If the robot is to be installed in an inclined position, KUKA
Roboter GmbH must be consulted beforehand.
The procedure for installing the manipulator (whether for the first time or as an exchange)
is as follows:
(1) Check that the locating pins (Fig. 50/1) are undamaged and fitted securely.
Notice!
Damaged locating pins must be replaced by new ones.
1
Fig. 50 Locating pins
Caution!
The manipulator must be in the transport position (Fig. 48)*.
A1 A2 A3 A4 A5 A6
0˚ ---135˚ +155˚ 0˚ +90˚ 0˚
*
* All angles are specified relative to the electrical
zero position” or to the KCP display.
1)
without arm extension
2)
200 mm arm extension
3)
400 mm arm extension
643
155
°
135
°
24
1)
; 38
2)
; 85
3)
1793
1309
1)
1498
2)
1685
3)
90
°
659
Fig. 51 Transport position for ceiling--mounted manipulators