Operating Instructions
182 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
D Installation
Information!
With F--variant robots, seals are fitted between the arm and main axis motor unit A3.
These must be renewed during installation. In addition, the fastening screws are to be
inserted using Drei Bond 1118 sealant.
When ordering a main axis motor unit, always indicate if it is for use in these robot va-
riants.
(1) Remove all protective coatings and oil from new main axis motor unit A 3, where appli-
cable.
(2) Clean the toothing (Fig. 124/5) before installation and apply a thin but continuous coat
of Microlube GL 261.
(3) Insert main axis motor unit A3 (3).
Caution!
When inserting main axis motor unit A3, care must be taken to avoid any injury
by crushing!
Notice!
Main axis motor unit A3 must not be tilted while it is being installed. Ensure that
the sockets (1, 2) are in the correct position.
Information!
Insertion of main axis motor unit A 3 can be facilitated by turning it gently.
(4) Fasten main axis motor unit A3 (3) with four M8x25--8.8 Allen screws (4).
(5) Tighten the Allen screws (4) with a torque wrench in diagonally opposite sequence, in-
creasing the tightening torque M
A
in several stages to the specified value
(M
A
= 23 Nm).
(6) Insert connectors XM3 (1) and XP3 (2).
(7) Remove lifting tackle or prop from the robot (Fig. 123).
(8) If necessary, move the robot to the original mounting position.
(9) Carry out zero adjustment (see Operating Handbook, Software KR C4, Chapter
“Start--up”, Section “Robot mastering/unmastering”).
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