The steps to replace a KUKA motor usually include the following key steps:
1. Prepare
Ensure safety: Before replacing the motor, be sure to turn off the robot power and ensure a safe working environment to prevent accidents.
Prepare tools: Prepare the necessary tools such as ratchet hexagon, extension rod, and new motor and related accessories.
2. Remove the old motor
Disconnect: First, disconnect the power cord and encoder line of the seven-axis motor, and pay attention to protecting the cable connector.
Remove fixing screws: Use the ratchet hexagon and extension bar to remove fixing screws from the motor.
Pull out the motor: When pulling out the motor, pay attention to horizontal force to prevent the splash of damaging the motor and the reducer.
3. Install new motor
Apply butter: Apply a little butter to the splash of the new motor to reduce wear and friction.
Feed the reducer: Feed the new motor into the reducer and ensure that the motor is installed in place.
Tightening screws: After the motor is sent into place, tighten the fixing screws, and the torque of the screws is usually 45NM.
Connecting cable: Install the motor power cord and motor encoder cable to ensure reliable connection.
4. Verify and debug
Torque check: After the motor is installed, it is necessary to carry out torque check to ensure that the torque meets the requirements and prevent the motor from running unstable due to insufficient torque.
Zero correction: After the replacement of the motor, regardless of whether the robot zero is lost, it is necessary to zero correction of the seven axes. This usually involves hitting the robot to the pre-calibrated position of the seven-axis zero and using EMT to recalibrate the seven-axis zero of the robot.
Manual test: After all the work is completed, the manual test is carried out. First of all, slow track to avoid collision. After the manual test is no problem, the robot is set to automatic mode for test, and the speed is gradually increased.
5. Clean up the site and records
Cleaning the site: After the replacement of the motor is completed, the site should be cleaned to prevent waste or tools left on the site from getting stuck into the seven-axis track of the robot.
Record data: During the test run, record relevant data for subsequent analysis and optimization.
6. Precautions
Handling gently: When replacing the motor, pay attention to handling gently to prevent damage to the motor.
Horizontal movement: When the motor is extracted from the reducer or loaded into the reducer, pay attention to the horizontal movement to prevent the splash wear of the motor and the reducer.
Cable orientation: The power cord plug orientation of the newly installed motor may not be consistent with the original plug orientation. If the original cable length is insufficient due to the inconsistent direction, change the plug direction before connecting the cable.