ABB IRB 910INV Product Manual page 316

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5.5.1 Replacing the inner arm

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Install the axis-1&2 belt tension adjustment tool

to the motor through the hole.

Just tighten the tool.

Use a handheld dynamometer hooking to the

screw 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.

If the ball screw will interfere with the handheld

dynamometer, adjust the ball screw manually.

Fasten the screws to the recommended tightening

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.

Remove the axis-1&2 belt tension adjustment tool.

Belt tension adjustment tool set,

xx1800002879

Used belt: 45-51N

New belt:65-71N

xx1900000095

Tightening torque: 3 Nm ±10%

xx1800002880

Used belt: 193-236Hz

New belt:229-293Hz

Product manual - IRB 910INV

3HAC068055-001 Revision: K

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