Kuka IONTEC KR 20 R3100, Assembly Instructions Manual

Page: 261 / 344

7. Pull the sinuous spring off the motor.
8. If the motor is not to be reinstalled, it must be disposed of properly or
protected against corrosion before being put into storage.
9.5.1.4 Installing motor A4
Procedure
1. If a new motor is to be installed, remove any corrosion protection prior
to installation.
2. Clean the toothing on connecting shaft A4 and check for wear.
In the case of damage and/or wear, connecting shaft A4 must be ex-
changed.
3. Apply a thin but continuous coat of Microlube GL 261 to the toothing
on connecting shaft A4.
4. Mount motor A4 onto the connecting shaft together with the lock
washer and sinuous spring. Do not tilt while fitting.
Fig. 9-22: Motor with connecting shaft
1 Connecting shaft (according to robot type)
2 Lock washer
3 Sinuous spring
4 Motor
5. Insert 4 M5x14-8.8 Allen screws and tighten with a torque wrench in
diagonally opposite sequence. Increase the tightening torque to the
specified value in several stages.
6. Lift the in-line wrist and arm extension to the height of the arm using a
sling and crane.
7. Pull the cable for motor A6 through the arm.
8. Plug connectors XM4/XP4 and XM5/XP5 into the right-angle connec-
tors. The pins and coding elements of the connectors must be taken
into consideration. When inserting the connectors, turn them until they
KR IONTEC
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Repair