Installation and Commissioning

Repairs The Wrist and Axes 5 and 6To assemble:6. Install the driving belts.7. Mount the plate using screws .N.B. Do not forget the nuts of the motors.8. Install the motors.9. Push the motors in sideways to tension the belts. Use tool 3HAA 7601-050.Tighten screws to a torque of 4.1 Nm.10. Rotate the drive shafts. Check the tension on the belt.11. Install the drive mechanism as in section 7.2.12. Mount the wrist as in section 7.1.13. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screws for motors and plate, item :4.1 Nm.Tool:To adjust the belt tension: 3HAA 7601-0507.4 Measuring play in axes 5 and 6Axis 5.Axis 4 shall be turned 90 o . The maximum accepted play in axis 5 is 4.7 arc.minuteswhen loading axis 5 with a moment of 4.8 Nm in one direction, unloading to 0.24 Nmand start measuring the play, loading in the other direction with 4.8 Nm unloading to0.24 Nm and reading the play. This correspond to play of 0.27 mm on a radius of 200mm when the load is F=40 N and 2 N on radius 120 mm.12035200FProduct Manual IRB 1400 35