ABB IRB 140 Product Manual page 201

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Product manual - IRB 140
3HAC027400-001 Revision: V
4.7.5 Replacement of motor and timing belt, axes 5 or 6
Action
Clean the joints that have been opened. See
Cut the paint or surface on the robot before
replacing parts on page 118
Make sure the mating surfaces on the motor
and the console are clean and free from
burrs.
Fit the motors in the motor console without
tightening the attachment screws.
Fit the motor console in the upper arm
housing. Secure with its attachment screws.
Fit timingbelt, axis 5.
Tighten the motor attachment screws to en-
able the motor to be shifted slightly.
Adjust the belt tension axis 5.
Secure the motor with its attachment screws
including the ones in the motor console.
Fit timing belt, axis 6.
Repeat the belt adjustment procedure de-
tailed above for the remaining motor axis 6.
Secure the motor with its attachment screws.
Fit the belt shield with its attachment screws.
Pull the pressurized air connector through
the housing and secure it into fitting in the
upper arm assembly.
Pull the CS-connector through the housing
and secure it into the fitting in the upper arm
assembly.
Use a special socketto secure it.
Reconnect any connector to the CS-connect-
or.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
Tightening torque: 4 Nm ± 0.5 Nm
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
This will facilitate adjustment of the belt
tension.
Correct belt tension F=25 - 50 N
Tightening torque: 4 Nm ± 0.5 Nm
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
Correct belt tension F=20 - 40 N
Tightening torque: 4 Nm ± 0.5 Nm
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
Tightening torque: 4 Nm ± 0.5 Nm
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
Art. no. specified in section
equipment on page 198
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
Art. no. specified in section
equipment on page 198
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 197!
Continues on next page
4 Repair
Continued
Location
Location
Location
Location
Location
Location
Required
Location
Required
Location
201