ABB IRB 920 Product Manual page 448

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Table of Contents

5.6.3 Replacing the pulley on the ball screw upper position

Refitting the cover of the outer arm

Continues on next page

Secure the screws and washers without fully

Hang a strap to the hook on the motor.

Use a handheld dynamometer hooking to the strap

and pull the dynamometer to make the tension

falling in the allowed force range.

During the measurement, make sure that all inter-

ferences that may affect the force are removed.

Pay attention to the force application direction.

Use a sonic tension meter to measure the timing

belt tension.

If the timing belt tension does not meet the require-

ment, loosen the motor screws and readjust.

For robots with protection type Clean Room:

Clean the joints that have been opened and wipe

the parts free from particles with spirit on a lint

Cut the paint or surface on the robot

before replacing parts on page 118

After all repair work, wipe the Clean Room robot

free from particles with spirit on a lint free cloth.

Screws: Hex socket head cap

screw M4x16 12.9 Lafre

2C2B/FC6.9 (4 pcs)

Washers: Plain washer machining

4.2x9x2 steel (4 pcs)

Tightening torque: 2.6 Nm ±10%

xx2100001078

Used belt: 36.6

xx2100001126

Used belt: 139

New belt:110

Product manual - IRB 920

3HAC075721-001 Revision: C

Troubleshooting