Revision: Release
Publication Date: April 19, 2018
PULSE_DM_DI_PULSEPalletAssemblyInstructionsManual_JLR_V.180419
KUKA Systems North America LLC., 6600 Center Drive, Sterling Heights, MI 48312, USA T +586 795 2000 F +586 978 0429
ServiceCenter@kukanao.com www.kuka.com
TABLE OF CONTENTS
1 INTRODUCTION ............................................................................................................................................... 3
1.1 System Background ....................................................................................................................... 3
1.2 Information about these instructions............................................................................................ 3
1.3 Representation of Warnings and Notes ........................................................................................ 3
1.4 Safety Signs on the System ............................................................................................................ 4
1.4.1 Prohibiting Signs ........................................................................................................................... 4
1.4.2 Mandatory Signs ............................................................................................................................ 4
1.4.3 Warning Signs ................................................................................................................................ 5
2 INTENDED USE ................................................................................................................................................ 5
3 SAFETY ……... ................................................................................................................................................... 7
3.1 Disclaimer ...................................................................................................................................... 7
3.2 Safety Equipment .......................................................................................................................... 7
3.3 Personnel ....................................................................................................................................... 8
3.4 Safety Regulations ......................................................................................................................... 9
3.5 Safety Instructions Governing Specific Operating Conditions ..................................................... 11
3.5.1 Commissioning ............................................................................................................................ 11
3.5.2 Maintenance Work ...................................................................................................................... 11
4 TOOLS REQUIRED .......................................................................................................................................... 12
4.1 Tools Required for PULSE Installation .......................................................................................... 12
5 INSTALLATION................................................................................................................................................ 14
5.1 PULSE Pallet Mounted System..................................................................................................... 14
5.1.1 Prerequisites ................................................................................................................................ 14
5.1.2 Energy Control and Power Lockout (ECPL) .................................................................................. 18
5.1.1 Set-up........................................................................................................................................... 21
5.1.2 X, Y, Z Target Hole Locations for Each Sub-Assembly ................................................................... 26
5.1.3 X, Y, and Z Laser Target Holes & Mounting Surface Tolerance Set-Up ......................................... 31
5.1.4 Tool Setup Sheets ........................................................................................................................ 32
It is highly recommended that the system integrator performs a risk assessment after the equipment has been
properly installed. This will identify any areas that will require further safety enhancements.
Safety
These warnings are provided for safety purposes and must be observed.
These warnings mean that it is certain or highly probable that death or severe
physical injury will occur if no precautions are taken.
These warnings mean that death or severe physical injury may occur if no
precautions are taken.
These warnings mean that minor physical injury may occur, if no precautions are
taken.
These warnings mean that property damage may occur if no safety measures are
taken.
2 INTENDED USE
The PULSE Pallet system constitutes partly completed machinery as defined by Directive 2006/42/EC (Machinery
Directive) and will be called “machine” in the following text.
The user of the PULSE Pallet system must comply with the national laws and regulations.
Use
The PULSE Pallet system is intended exclusively as a transport system. It must only be operated in an industrial
environment.
Using it for any other or additional purposes is considered contrary to its intended use. The manufacturer cannot
be held liable for any damage resulting from such use. The risk lies entirely with the user.
Operation within the limits of the intended use also involves observing these assembly instructions – particularly
the preconditions for operation of the PULSE Pallet system and complying with the inspection and maintenance
directives.
Misuse
3.3 Personnel
All persons working on the PULSE Pallet system must be trained in its use and must have read and understood the
PULSE Pallet system documentation including the safety chapter.
The assembly instructions must always be at hand at the PULSE Pallet system.
Before work is started, the personnel must be instructed at regular intervals about the type and scope of the work
and potential hazards. Instruction must be provided again after particular incidents or technical modifications.
The personnel include the user and the operator of the PULSE Pallet system.
Installation, exchange, setting, operation,
maintenance and repair may be performed only by
personnel specially trained for this purpose as
specified in the assembly instructions.
User
The user of the PULSE Pallet system is responsible for its use and operation. He must ensure faultless operation in
terms of safety and lay down all safety regulations for the personnel.
At certain self-defined intervals, the user should check that the personnel are working in compliance with the
assembly instructions and paying attention to hazards and safety factors.
The user is responsible for complying with the national laws, regulations and standards.
Operator
The responsibilities of the personnel for commissioning, operation, maintenance and repair must be defined.
• The personnel must meet the following requirements:
• They must have read and understood the complete PULSE Pallet system documentation including the
safety chapter.
• They must be trained and instructed with regard to the work to be performed.
• They must use the personal protective equipment.
• The machine may be operated only by persons at least 18 years old.
System Integrator
The PULSE Pallet system must be integrated into a machine or system by the system integrator in compliance with
all safety requirements.
The system integrator is responsible for the following tasks:
• Proper installation of the PULSE Pallet system
• Connection of the PULSE Pallet system
• Implementation of the necessary safety equipment and safeguards
• Issue of the declaration of conformity for the machine or system in which the PULSE Pallet system is
integrated
• Creation of the operating instructions for the machine or system in which the PULSE Pallet system is
integrated.
Instruction
The following points must be observed regarding instruction or training:
• The person receiving instruction must confirm participation in the training with their signature.
• The person receiving instruction must be familiarized with the work under the supervision of an
experienced and authorized user.
3.4 Safety Regulations
The PULSE Pallet system must only be used in technically perfect condition in accordance with its intended use,
and only by safety-conscious persons. Operator errors can result in personal injury and damage to property.
If any defects or malfunctions affecting the operational safety or reliability are detected, the PULSE Pallet system
must be immediately switched off or not put into operation.
• Avoid any operational mode that might be prejudicial to safety.
• Take the necessary precautions to ensure that the PULSE Pallet system is used only when in a safe and
reliable state!
4 TOOLS REQUIRED
4.1 Tools Required for PULSE Installation
• Mallet – Wood or Rubber end – various sizes
• Pinch Bar
• Laser Equipment
• Laser Tracker
• Targets (dowel and magnetic mount styles)
• Scale Bar
Adhere to plant safety guidelines and wear all required Personal Protective Equipment (PPE), including:
• Safety Glasses
• Protective Footwear
• Gloves
Ensure you are aware of Laser safety around the Laser Tracker system
• Do not look directly into the Laser Beam – severe eye damage may occur
Images show lockout pin in the locked position (shown on the left), and in the stored position (shown on the
right).
ECPL (Energy Control and Power Lockout) is a set of safety standards used to describe all potential hazards
associated with a machine. These hazards include all electrical energy (i.e. motors, switches) as well as any stored
energy (i.e. pneumatic and hydraulic pressure). Through the use of ECPL standards operating and maintenance
work on the machine and associated mechanical devices can be performed in a safe manner. For each station on
the machine an ECPL sign (sometimes referred to as a placard) is posted nearby in a location that is easily
accessible to the operating and maintenance personnel. The ECPL sign contains information regarding the location
of all lockouts and potential hazards associated with the machine. These lockout and hazardous locations are
designated with a Lockout Tag (i.e. E1, e1, P1, p1, RH, CG...) that will be posted nearby for easy identification. Also,
the proper lockout and verification procedures are prominently displayed on the sign. The image at right illustrates
a typical ECPL sign.
ALWAYS follow the instructions on the ECPL sign for proper machine lockout and verification procedures.
The ECPL Sign(s) shows the system's lockout points and lists procedures for proper machine lockout. ALWAYS
follow the instructions on the sign(s) POSTED ON THE EQUIPMENT for proper lockout (see DANGER notice below).
DANGER
LOCKOUT OPERATIONS SHOULD BE PERFORMED AS
INSTRUCTED ON THE ECPL SIGN(S) POSTED ON THE
DANGER EQUIPMENT. The information currently posted on the machine
ECPL placard(s) is the authoritative, current procedure. Due to
the possibility of future changes being made to the equipment,
this section cannot be guaranteed to be current.
AN EXAMPLE OF THE ECPL SIGN(S) IS INCLUDED HERE FOR
REFERENCE ONLY! Please refer to the sign(s) posted on the
equipment. Failure to observe the lockout procedures AS
POSTED ON THE EQUIPMENT could result in injury or death
and/or could cause severe equipment damage.
• Consult the graphic lockout procedure posted on the equipment before performing any maintenance or
repair task. No person should begin maintenance repairs until the proper ECPL procedures are completed.
• Before shutting down the equipment to lockout energy sources, the employee performing the procedure
or the supervisor shall inform affected employees of the intention to shut down the equipment.
If the machine or equipment is operating, it must be shut down using normal shutdown procedures.
Essentially Lockout Tags are utilized as a method of warning personnel of a potential hazard associated with a
particular energy source. They are attached to or are placed in close proximity to energy isolating devices.
Lockout Tags alone do not provide the physical restraint on the energy device, this can only be provided by a lock.
Understanding the proper meaning of a Lockout Tag is necessary to prevent a false sense of security around
potential hazards on the machine. Lockout Tags identify the energy source lockout device. When the energy
source is locked out, they cannot become inadvertently or accidentally detached. The Lockout Tags shown below
illustrate some of the most common lockout designations.
Note: Consult the layout drawings for the designed gap between Grout Plate and Bottom of each mounting
bracket.
Locate and Lag Grout Plates into Floor – using overhead Projection System
Note: The following is reference only using a Hilti style anchor as an example – consult your layout drawings
for anchor type.
Drill 3/4" (19.05mm) diameter x 6" (152.4mm) hole into the concrete ensuring the Screw
Anchor does not bottom out in the hole.
Install the Hilti KH-EZ ¾” (19.05mm) x 4 ½” (114.3mm) (reference only) into the concrete as
shown, applying 95-115 ft-lbs of torque.
Image showing the X, Y, and Z axis relative to the PULSE Pallet System
Note: X Axis is direction of Part Flow
Image showing the X, Y, and Z axis relative to the PULSE Pallet System
Note: X Axis is direction of Part Flow
Image showing the X, Y, and Z axis relative to the PULSE Pallet System
Note: X Axis is direction of Part Flow
Image showing the X, Y, and Z axis relative to the PULSE Pallet System
Note: X Axis is direction of Part Flow
Image showing the X, Y, and Z axis relative to the PULSE Pallet System
Note: X Axis is direction of Part Flow
Laser Targets (assigned by the Assembly Technician) are located on the Assembly Drawings. All Target locations
are to be +/- .25mm relative to the Datum.
Image shows Laser Target Hole locations for each set of Mounting Brackets at each station. Note
– these are actual dimensions (based on the nominal dimensions on the Layout Drawings) recorded
during the assembly process at KUKA, and will be repeated to record the actual dimensions at the final
customer.
Image shows fine tune adjustments being made to the Mounting Brackets for vertical height adjustment, and also
establishing the mounting surface plane.
Adjusting the position of the Mounting Brackets in the X and Y axis direction
Image shows the use of a Mallet (or Pinch Bar) for side adjustment (X and Y direction) of a typical Mounting
Bracket.
Image shows section cut of set up of the E&E Leveling Jack Screw (EMLJ-2475-CAM). Note the gap between the
underside of the Mounting Bracket and the top of the Grout Plate.
Mark the Leveling Jack Screw when final located signifying the final location
All Labels as shown in this photo should be on the same side of every rail (arrows in direction of part flow). Motor
flow is denoted as upstream to downstream (from Drive Connectors to Sense Connector). This assures the correct
orientation of the magnets and motors.
Image shows an example of FRP rails joining to share one Rail Mounting Bracket.
Image shows Laser Beams Targeting Laser Targets mounted in Target Holes.
Image shows Linear Rail being mounted onto Rail Mounting Brackets.
Image shows how Linear Rail and Rail Mounting Brackets are secured.
Introduction:
Recommended guidelines for cutting a FRP rail to accommodate additional rail gap
Objective:
To ensure proper technique and safety procedures are practiced when FRP rails are cut in the field
Plan:
1. Adhere to all plant safety and Personal Protective Equipment (PPE) guidelines. Safety gloves,
facemasks, eyeglasses, and protective sleeves should be worn when cutting a FRP rail.
2. With the use of clamps, secure the rail onto the cutting surface.
3. Measure and mark FRP rail to desired length.
4. Utilize a reciprocating saw to cut the FRP rail to the desired length. Employ proper saw handling
technique to safely cut the rail.
5. Use a wet/dry vacuum to collect excess rail debris.
6. Once cut, apply Aervoe 403 Insulating Epoxy Coating to seal and protect any sharp edges/rail
imperfections. Please see the product and safety data sheets below and reference the
demonstration video displaying the FRP rail cutting process.
Workstation Reference:
Video:
FRP Rail Cutting Reference Video
5.3 Turntable
Using the Laser Tracker, locate the Turntable Base
Image shows adjustment screw which can be used to move the rail angle up and down.
Image shows Locating Actuator mounted through the Rail Bridge Support Bracket. There are four (4) Laser Target
Holes on the Locating Actuator, two on each end.
Using the Laser Tracker, shoot in the four (4) Laser Roller Targets (Cat Eye Targets) for the locating the
assembly in the Y-Axis.
Image shows Pallet Fixed Stop located at the end of the Cross Transfer Rail.
Use adjustment screws to align the FRP rail to the appropriate height. See diagram and layout drawing.
Figure 5.11.1: PULSE Pull-Off Cart positioned at the end of the line.
Magnet arrays are always active and present a strong magnetic field. Never use chains or bring a forklift in
direct contact with a magnet array. Failure to do so will result in potential injury and/or damage to
equipment.
Figure 5.11.6: Rough locators positioning over the chassis pin blocks.
General Safety:
1. Do not place any body parts (e.g. finger) between a magnet and any ferrous material or another magnet.
2. To avoid serious injury, people with pacemakers and other medical electronic implants must stay away
from the magnets.
4. Always utilize lifting straps when attempting to lift a chassis assembly or pallet. Never use chains or bring
a forklift in direct contact with a magnet array. Failure to do so will result in potential injury and/or damage
to equipment.
Reference lift point stickers attached to FRP rails for proper moving methods.
Incorrect use and attachment of lifting tackle can cause the PULSE Pallet system to
fall, resulting in injury.
Using unsuitable lifting tackle can damage the PULSE Pallet system. Only lifting
tackle and attachment points with sufficient load-bearing capacity may be used.
The system can also be transported by means of a fork lift or crane.
Procedure
1. Attach the lifting tackle with or without a lifting frame to all 4 transport eye-bolts on the
enclosure.
Procedure
Fig. 6-3 Example of packaged enclosures prepared for transportation by fork lift truck. Note,
enclosures should be secured to pallets with all cables protected when being transported via fork
lift truck
Procedure
This section describes all the work required for decommissioning the PULSE system. After
decommissioning, it is prepared for storage or for transportation to a different location.
Following its removal, the PULSE system may only be transported with lifting tackle and a fork
lift truck or pallet truck.
Precondition
• The removal site must be accessible with a crane or with a fork lift truck for transportation.
• The crane and fork lift truck have an adequate carrying capacity.
• There is no hazard posed by system components.
7.2 Storage
Preconditions
If the PULSE system must be put into long-term storage, the following points must be
observed:
• The place of storage must be as dry and dust-free as possible.
• Avoid temperature fluctuations.
• Avoid wind and drafts.
• Avoid condensation (80% humidity, non-condensing).
• Observe and comply with the permissible temperature ranges for storage (-20°C ~
40°C).
• Select a storage location in which the packaging materials cannot be damaged.
• Only store the PULSE system indoors.
As the end user, the customer is legally required to return depleted batteries. Used batteries
can be returned to the vendor or brought to the designated collection points (e.g. the
communal refuse collection facilities or commercial centers) free of charge. The batteries can
also be sent to the vendor by post.
Follow all facility, local, and national procedures for the disposal of hazardous materials.
8 CONTACT INFORMATION
Please contact KUKA Systems North America’s Service Center for assistance, questions or comments regarding
the operation or maintenance of your equipment.
Authorized CE Representative: