Installation and Commissioning

Repairs Axis 211. Replace the radius rod as in Chapter 4.3, Dismantling the radius rod.12. Replace the upper arm as in Chapter 4.5, Dismantling the complete upper arm.13. Replace the equalizer springs as in chapter 3.5, Dismantling the equalizer springs(not valid for IRB 1400H).14. Replace the cabling as in Chapter 6, Cabling and Serial Measurement Boards.15. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screwed joint of lower arm/gear 2, item : 68 Nm ±10%3.4 Changing the bearings in the upper armSee foldout 1 (6 for IRB 1400H) in the list of spare parts.To dismantle:1. Loosen the upper bracket of the tie rod as in Chapter 4.4, Changing the tie rod.2. Unscrew screws which hold the radius rod to gear 3.3. Remove the bearings from the radius rod.To assemble:4. Fit new bearings to the radius rod.5. Replace the radius rod using screws and tighten to a torque of 68 Nm ±10%.6. Attach the upper bracket of the tie rod as in Chapter 4.4, Changing the tie rod.7. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screwed joint of radius rod/gear 3, pos. : 68 Nm ±10%Product Manual IRB 1400 17