Kuka KR 16-2 - Page 186

Operating Instructions
186 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
Notice!
When installing the motor unit, it must be ensured that the toothed belts mesh
properly with the toothed belt pulleys, see Fig. 127.
Correct Incorrect
Fig. 127 Correct toothed belt position
(4) Insert the four Allen screws M5x16 (Fig. 125/2) together with lock washers and tighten
the Allen screws until the motor unit can be shifted without play.
(5) Adjust the belt tension (see Section 11.2).
(6) Insert connectors XM5 (Fig. 125/7) and XP5 (6).
(7) Fit the sealing cover (8).
(8) Carry out zero adjustment (see Operating Handbook, Controller, section “Robot maste-
ring/unmastering”).
Notice!
When a new toothed belt is installed, the belt tension must be rechecked after
approximately 100 hours of operation.