Installation and Commissioning

Axis 4 Repairs14. Connect the cabling.15. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:The motor’s fixing screws, item : 4.1 Nm ±10%Tool:Crank tool for checking the play: 3HAB 1201-15.2 Changing the intermediate gear including sealingSee foldout 8 in the list of spare parts.To dismantle:1. Dismantle the wrist as in Chapter 7, The Wrist and Axes 5 and 6.2. Dismantle the drive mechanism as in Chapter 7.2, Dismantling the complete drivemechanism of axes 5 and 6.3. Dismantle the motor of axis 4 as in Chapter 5.1, Changing the motor.4. Remove the cover .5. Undo screws fixing the large drive gear and dismantle it.N.B. Put the shims in a safe place.6. Undo screws .7. Push the intermediate gear out of the arm housing.To assemble:8. Grease the seating of the arm housing to provide radial sealing.9. Push the gear unit down into the arm housing.10. Screw in screws together with their washers and pull the gear down.11. Mount the drive gear using screws and tighten to a torque of8.3 Nm ±10%.N.B. Do not forget to insert shims under the drive gear.12. Tighten screws to a torque of approximately 5 Nm.13. Bend the pinion towards the large drive gear and then rotate it around the tubularshaft a couple of times so that the clearance in the gears can adjust itself in relation26 Product Manual IRB 1400