Installation and Commissioning

Repairs Axis 1To assemble:11. Place a new gear unit on the table.12. Raise the base.13. Screw in the screws together with their washers . Tighten using atorque of 68 Nm ±10%.14. Replace the bottom plate using screws .15. Turn the foot.16. Replace the lower arm as in Chapter 3.3, Dismantling the lower arm17. Replace the radius rod as in Chapter 4.3, Dismantling the radius rod.18. Replace the upper arm as in Chapter 5.4, Dismantling the tubular shaft and changingbearings.19. Replace the cabling as in Chapter 6, Cabling and Serial Measurement Boards.20. Replace the tie rod as in Chapter 4.4, Changing the tie rod.21. Replace the equalizer springs as in chapter 3.5, Dismantling the equalizer springs(not valid for IRB 1400H).22. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screwed joint of base/gear unit, item : 68 Nm ±10%2.3 Position indicator in axis 1 (optional)See foldouts 3 and 4 (6 for IRB 1400H) in the list of spare parts.To dismantle:1. Remove the flange plate .2. Loosen the connector R1.LS.3. Dismantle the two limit switches .4. Loosen the cables from the switches.5. Remove the cabling through the base.To assemble:6. Assemble in the reverse order.Product Manual IRB 1400 13