ABB IRB 910INV Product Manual page 694

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Table of Contents

5.7.4 Replacing the axis-4 motor sub-assembly

Reconnecting the connectors for axis-4 motor

Continues on next page

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-4 belt tension adjustment tool.

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.

Used belt: 84-96N

New belt:120-132N

xx1900000097

Tightening torque: 3 Nm ±10%

xx1800003389

Used belt: 257-314Hz

New belt:304-389Hz

Product manual - IRB 910INV

3HAC068055-001 Revision: K

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