Installation and Commissioning

Axis 2 Repairs3.2 Changing the gearboxAxis 2 gearbox is of a conventional type, manufactured with a high degree of precisionand, together with the gearbox for axes 1 and 3, forms a complete unit.The gearbox is not normally serviced or adjusted.Note:If the gearbox of any of the axes 1, 2 or 3 needs to be changed, the whole unit mustbe changed.See foldout 1 in the list of spare parts.To dismantle:See Chapter 2.1.3.3 Dismantling the lower armSee foldouts 1 (6 for IRB 1400H) in the list of spare parts.To dismantle:1. Remove the equalizer springs as in Chapter 3.5, Dismantling the equalizer springs(not valid for IRB 1400H).2. Remove the cabling down to axis 1 as in Chapter 6, Cabling and Serial MeasuringBoards.3. Dismantle the upper arm as in Chapter 4.5, Dismantling the complete upper arm.4. Attach the crane to the lower arm.5. Remove the radius rod as in Chapter 4.3, Dismantling the radius rod.6. Loosen screws .7. Take off the lower arm.To assemble:8. Transfer the damping element and calibration marking to the new lower arm.9. Lift the lower arm into position.10. Fix the lower arm to gear 2 using screws and tighten them to a torque of68 Nm ±10%.To prevent clicking during operation of the robot, grease the bearing seating of theradius rod in the lower arm.16 Product Manual IRB 1400