Kuka KR 6-2 - Page 168

Operating Instructions
168 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
D Installation
(1) Install the toothed belt by carrying out the removal instructions in reverse.
Notice!
When the toothed belts are installed, the hexagon nuts (1, 3) must be replaced
with new ones.
Notice!
When fitting toothed belts, it must be ensured that they mesh properly with the
toothed belt pulleys (see Fig. 118).
Information!
Before the cover (Fig. 117/9) is mounted, steps 2 and 3 must be carried out.
(2) Carry out zero adjustment on axes 5 and 6 (see Operating Handbook, Software KR C2,
Chapter “Start--up”, Section “Robot Mastering/Unmastering”).
(3) Check the toothed belt tension of axes 5 and 6 in the in--line wrist and adjust it if neces-
sary (see Chapter 11.3, “Adjustment”).
13
6
4
5
78
2
9
Fig. 117 Removal, installation of toothed belts for axis 5 and axis 6