Installation and Commissioning

Axis 1Repairs2.2 Changing the gearboxAxis 1 gearbox is of the conventional type, manufactured with a high degree ofprecision and, together with the gearboxes for axes 2 and 3, forms a complete unit.The gearbox is not normally serviced or adjusted.Note:If the gearbox on any of the axes 1, 2 or 3 is changed, the whole unit must bechanged.See foldout 1 (6 for IRB 1400H) in the list of spare parts.To dismantle:1. Remove the motors in axes 1, 2 and 3 as in sections 2.1, 3.1 and 4.1.2. Remove the cabling and serial measuring boards as in Chapter 6, Cabling.3. Remove the tie rod as in Chapter 4.4, Changing the tie rod.4. Remove the radius rod as in Chapter 4.3, Dismantling the radius rod.5. Remove the equalizer springs as in Chapter 3.5, Dismantling the equalizer springs(not valid for IRB 1400H).6. Dismantle the upper arm as in Chapter 4.5, Dismantling the complete upper arm.7. Dismantle the lower arm as in Chapter 3.3, Dismantling the lower arm.8. Place the remaining parts of the manipulator upside-down on a table or similar surfaceand remove the bottom plate . See Figure 1.Make sure that the foot is stable.Figure 1 How to position the foot when dismantling axes 1, 2 and 3.9. Undo screws .10. Separate the base from the gear unit.12 Product Manual IRB 1400