Change, maintenance, decommissioning
System Description Service Robotics Modules
1004870-EN-05
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10.2.4
Exchanging the robot arm
The system or plant integrator is obligated to take the situations in which service robotics
modules from Pilz are exchanged into account in his risk analysis. The risk analysis must
indicate the appropriate measures.
We recommend that you consider the following when exchanging the robot arm.
Prerequisites
}
The robot arm has been moved to its park position, depending on the application.
}
The wiring diagram for the application is available.
}
The supply voltage has been switched off at the control cabinet main switch.
}
A robot arm with identical version is available as the exchange device.
Procedure
}
Remove all connections from the robot arm and uninstall the robot arm.
Refer to the information regarding wiring and assembly in the operating manual for the ro-
bot arm PRBT 6.
}
Install the new robot arm and connect the connection cable.
Refer to the information regarding wiring and assembly in the operating manual for the ro-
bot arm PRBT 6.
}
Switch on the supply voltage at the control cabinet main switch.
}
Execute the robot program in one of the manual operating modes.
As the positions with the new robot arm may deviate, the positions must be approached
carefully and may need to be relearned.
}
Perform recommissioning.
Please note the requirements in the chapter entitled
.
