Installation and Commissioning

Repairs Axis 3Figure 3 Measuring the shim thickness when preloading the bearing.16. Make a note of the dimension “A”. Fit one washer and shims and,using the micrometer, measure the thickness so that the total thickness is 0.10 -0.20 mm more than the noted dimension “A”. This will result in a preloading ofthe bearing of 0.10 - 0.20 mm.17. Fit the shims and washer and tighten the KM nut .18. Replace the upper attachment of the tie rod as in Chapter 4.4, Changing the tie rod.19. Replace the equalizer springs as in Chapter 3.5, Dismantling the balancing springs(not valid for IRB 1400H).20. Reconnect the connection boxes and the cabling.21. Calibrate the robot as in Chapter 9, Calibration.22. Undo the KM-nut on the axis 2 side, just to be able to adjust the calibration washer.23. If the old armhouse is mounted, adjust the calibration washer according to thepunch mark. If the armhouse is new adjust the washer according to Figure 4 andmake a new punch marks for axes 3 and 4, according to chapter 9.2.Product Manual IRB 1400 23