Installation and Commissioning

RepairsCONTENTSPage1 General Description ........................................................................................................ 31.1 Instructions for reading the following sections ...................................................... 51.2 Caution.................................................................................................................... 61.3 Fitting new bearings and seals................................................................................ 61.3.1 Bearings ....................................................................................................... 61.3.2 Seals ............................................................................................................. 71.4 Instructions for tightening screw joints .................................................................. 91.5 Tightening torques.................................................................................................. 102 Axis 1 ................................................................................................................................ 112.1 Changing the motor of axis 1 ................................................................................. 112.2 Changing the gearbox............................................................................................. 122.3 Position indicator in axis 1 (optional)..................................................................... 132.4 Replacing the mechanical stop ............................................................................... 143 Axis 2 ................................................................................................................................ 153.1 Changing the motor of axis 2 ................................................................................. 153.2 Changing the gearbox............................................................................................. 163.3 Dismantling the lower arm ..................................................................................... 163.4 Changing the bearings in the upper arm................................................................. 173.5 Dismantling the balancing springs ......................................................................... 184 Axis 3 ................................................................................................................................ 194.1 Changing the motor of axis 3 ................................................................................. 194.2 Changing the gearbox............................................................................................. 204.3 Dismantling the parallel arm .................................................................................. 204.4 Changing the tie rod ............................................................................................... 214.5 Dismantling the complete upper arm...................................................................... 225 Axis 4 ................................................................................................................................ 255.1 Changing the motor ................................................................................................ 255.2 Changing the intermediate gear including sealing ................................................. 265.3 Dismantling the drive gear on the tubular shaft ..................................................... 275.4 Dismantling the tubular shaft and changing bearings ............................................ 296 Cabling and Serial Measuring board ............................................................................ 316.1 Changing serial measuring boards.......................................................................... 316.2 Changing the cabling in axes 1, 2 and 3................................................................. 316.3 Changing the cabling in axes 4, 5 and 6................................................................. 327 The Wrist and Axes 5 and 6 ........................................................................................... 337.1 Dismantling the wrist.............................................................................................. 337.2 Dismantling the complete drive mechanism of axes 5 and 6 ................................. 34Product Manual IRB 1400 1