4 Repair
4.6.9. Replacement of motor and timing belt, axis 6
2113HAC026660-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
2. Follow the steps below when fitting the
motor:
• Place the timing belt (B) round the
motor pinion and place the belt
round the axis 6 as fitting the motor
in the upper arm housing.
• Secure the motor with its tree
attachment screws and washers
(C), but do not tighten them yet.
• Attach the hook round the motor
pinion (underneath the motor) and
adjust the belt tension with a force of
80 N, using a dynamometer. Shown
in the figure to the right.
• Tighten the motor attachment
screws with a torque of 10 Nm.
xx0400001282
A. Motor, axis 6
B. Timing belt, axis 6
C. Attachment screws and washers,
motor, 3 pcs, M6 x 20
D. Hook (motor pinion: Ø24.07 mm)
F (Force): 80 N.
3. Refit the complete distance console. Shown in the figure Location of motor on
page 209.
4. Refit the connector plate. Refit the cable tie. Shown in the figure Location of motor on
page 209.
5. Reconnect the motor cables: R3.MP6 and
R3.FB6.
6. Place all the cabling correctly inside the
upper arm housing.
Cable layout is shown in the figure Illustra-
tion, cabling inside upper arm housing on
page 115.
7. Refit the cover to the upper arm housing.
Check both the gaskets and replace, if
damaged.
Art. no. is specified in Required equipment
on page 209.
8. Recalibrate the robot! Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is included
in section Calibration information.
9.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These
are further detailed in section DANGER -
First test run may cause injury or damage!
on page 33.
Action Note/Illustration
Continued
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