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BA KR 6, 16 F, KR C4 12.10.07 en
12.4.2 Removal, installation of toothed belts A5 and A6
Information!
The toothed belts of axes 5 and 6 may only be removed and installed together.
Section 12.1 of this chapter must be observed!
Caution!
If the end --effector is still mounted on the wrist, it must be either removed or
secured to prevent it from moving.
Warning!
If the toothed belt is to be removed from or installed in an operable robot, the
main switch on the control cabinet must be turned to “OFF” and secured with a
padlock to prevent unauthorized persons from switching it on again.
D Removal
Warning!
Before performing the next step, it must be ensured that it is not possible for
anyone to be injured within the range of the slowly rotating arm.
The robot may only be moved at jog speed, with all applicable safety rules and
regulations being observed.
(1) Put robot into operation, moving the arm into a horizontal position (Fig. 117) and the
wrist into the zero position.
Warning!
Turn the main switch on the robot control cabinet to “OFF” and secure it with a
padlock to prevent unauthorized persons from switching it on again.
(2) Remove five M5x16 Allen screws (7) and two M5x25 Allen screws (8) together with their
lock washers and take off cover (9).
(3) Slacken hexagon nut M4 (1).
(4) Turn the eccentric shaft (2) to slacken toothed belt A5 (6).
(5) Take toothed belt (6) off pulleys.
(6) Slacken hexagon nut M4 (3).
(7) Turn the eccentric shaft (4) to slacken toothed belt A6 (5).
(8) Take toothed belt A6 (5) off pulleys.
(9) Take toothed belt A6 (5) out of the in--line wrist.
(10) Take toothed belt A5 (6) out of the in--line wrist.
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