Kuka KR 16-2 - Page 185

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BA KR 6, 16 F, KR C4 12.10.07 en
D Installation (A4 and A5)
Information!
With F--variant robots, seals are fitted between the arm and the wrist axis motor units.
These must be renewed during installation. In addition, for this robot variant, Drei Bond
1108 sealant is to be used when inserting the following screws:
-- Adjusting screws for wrist axis motor units A4 and A5
-- Setscrews for the holes not occupied by the adjusting screws
-- Lower fastening screws for wrist axis motor unit A5
-- Upper fastening screws for wrist axis motor unit A4
When ordering wrist axis motor units, always indicate if they are for use in these robot
variants.
Information!
If necessary, install motor unit A6 (see below) before installation is commenced, as pul-
leys A4 and A5 are supported by motor flange A6.
Fit toothed belts A4 and A5 beforehand.
(1) Remove all protective coatings and oil from new motor units A4 and A5, where applica-
ble.
(2) Remove the plug (Fig. 125/8).
(3) Insert motor unit A5 (3) and fit the toothed belt (Fig. 126/2) onto the pulley of motor unit
A5. Fit the corresponding toothed belt (4) for A4.
Information!
Insert the motor unit so that the connectors XP5 and XM5 are located on the left.
2
1
3
4
A5
A6
A4
Fig. 126 Installation of motor unit