NoteAction
CAUTION
For robots with protection type Clean Room
Always cut the paint with a knife and grind the
paint edge when disassembling parts of the robot!
See Cut the paint or surface on the robot before
replacing parts on page 118.
2
DANGER
Make sure that the ball screw is supported with
something.
The sudden drop of the ball screw due the lost of
the axis-3 motor may cause danger.
3
Hang a strong strap to the motor.4
Used belt: 100Use a handheld dynamometer hooking to the strap
and pull the dynamometer to make the tension
falling in the allowed force range.
Note
During the measurement, make sure that all inter-
ferences that may affect the force are removed.
Pay attention to the force application direction.
5
New belt:240
xx2100001127
Tightening torque: 2.6 Nm ±10%
xx2100001087
Fasten the screws on the transmission module to
the recommended tightening torque.
6
Used belt: 202Use a sonic tension meter to measure the timing
belt tension.
7
New belt:180
If the timing belt tension does not meet the require-
ment, loosen the motor screws and readjust.
8
Continues on next page
Product manual - IRB 920 643
3HAC075721-001 Revision: C
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.6.10 Replacing the transmission module
Continued
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