Installation and Commissioning

Axis 3Repairs4.5 Dismantling the complete upper armSee foldout 2 in the list of spare parts.To dismantle:Attach a crane to the upper arm.1. Unscrew the upper bracket of the tie rod as in Chapter 4.4, Changing the tie rod.2. Loosen the connectors of the motors of axes 4, 5 and 6.3. Disconnect the connection box from the motors.4. Detach the equalizer springs as in Chapter 3.5, Dismantling the balancing springs(not valid for IRB 1400H).5. Undo the KM nuts .6. Remove washers and shims on the same side as axis 3.7. Attach the withdrawing tool 3HAB 1259-1 and pull the axes off.To assemble:8. Raise the upper arm into assembly position.9. Install shaft spindles (both sides), use two temporary screws M10x90.10. Insert bearings (both sides) using tool 3HAB 1200-1 and screws .11. Detach the tool and tighten the screws once more, only to prevent rotation of theaxis when the KM nut is tightened.N.B. Assemble the same side as axis 2 first.12. Mount two washers and calibration washer .13. Tighten using the KM nut .14. Attach the measuring instrument 3HAB 1205-1 to the shaft spindle on axis 3.N.B. If measuring instrument 3HAB 1205-1 is not available, you can use amicrometer thickness gauge.15. Hold the tool against the shoulder of the shaft spindle and measure thedimension “A”. See Figure 3.(If you are not using the measuring instrument, tighten using the KM nut and,before measuring with the micrometer thickness gauge, then undo it again.)22 Product Manual IRB 1400