Kuka KR 6-2 - Page 5

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BA KR 6, 16 F, KR C4 12.10.07 en
9.3.1 Coding 124.......................................................................
9.4 Connector panel on the control cabinet 125...........................................
9.5 Configuration of the connecting cables 126............................................
9.6 Wiring diagrams 127...............................................................
10 Maintenance work 129...............................................
10.1 General 129.......................................................................
10.2 Lubrication work 131...............................................................
10.3 Changing the oil on main axis gear units 134..........................................
10.3.1 Changing the oil on axis 1 gear unit 134..............................................
10.3.2 Changing the oil on axis 2 gear unit 135..............................................
10.3.3 Changing the oil on axis 3 gear unit 137..............................................
10.4 Other maintenance 139.............................................................
10.5 Lubrication, in--line wrist IW 6 II 141..................................................
10.5.1 Oil change 143....................................................................
10.6 Other maintenance 145.............................................................
10.7 Lubrication, in--line wrist IW 16 147...................................................
10.7.1 Oil change on in--line wrist IW 16 149.................................................
10.8 Cleaning and preventive maintenance 151............................................
10.9 Safety precautions when handling lubricants 152.......................................
11 Adjustment 153......................................................
11.1 General 153.......................................................................
11.2 Measuring and adjusting the toothed belt tension on wrist axis motor units A4 and A5 (motor side)
154
11.3 Measuring and adjusting toothed belt tension on wrist axis motor units A5 and A6 (in--line wrist IW
6 ll) 157....
12 Repair 161...........................................................
12.1 General 161.......................................................................
12.2 Bonding instructions 163............................................................
12.3 Unbraked impact against limit stops 164..............................................
12.4 In--line wrist IW 6 II, repair 165......................................................
12.4.1 Removal, installation of in--line wrist 165..............................................
12.4.2 Removal, installation of toothed belts A5 and A6 167...................................
12.5 In--line wrist IW 16, repair 170.......................................................
12.5.1 Removal, installation of in--line wrist 170..............................................
12.6 Removal, installation of main axis motor unit A1 172....................................
12.7 Removal, installation of main axis motor unit A2 175....................................
12.8 Removal, installation of main axis motor unit A3 179....................................
12.9 Removal, installation of wrist axis motor units A4 to A6 183..............................
12.10 Removal, installation of toothed belts 188.............................................