Kuka KR 6-2 - 12.10 Removal, Installation of Toothed Belts

Operating Instructions
188 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
12.10 Removal, installation of toothed belts
Information!
Section 12.1 of this chapter must be observed!
D Removal
(1) Remove wrist axis motor units A4 (Fig. 129/6), A5 (1) and A6 (8) (see Section 12.9).
(2) Remove in--line wrist (see Section 12.4 or 12.5).
(3) Remove the four Allen screws (7).
(4) Pull the drive train (4) out to the rear.
(5) Remove the toothed belts A4 (5) and A5 (2) from the arm housing.
1
2
3
4
5
6
7
8
Fig. 129 Exchanging the toothed belts
D Installation
(1) Fit the toothed belts A4 (Fig. 129/5) and A5 (2) in the arm housing.
(2) Fit the drive train (4) and fasten it with four M5x16--8.8 (7) Allen screws and lock wash-
ers.
(3) Tighten four Allen screws (7) with a torque wrench in diagonally opposite sequence, in-
creasing tightening torque to the specified value in several stages (M
A
= 5.6 Nm).
(4) Install wrist axis motor units A4 (6), A5 (1) and A6 (8) (see Section 12.9).
(5) Install in--line wrist (see Section 12.4 or 12.5).