Installation and Commissioning

Repairs Axis 4to the highest point of the large drive gear.14. Then tighten screws to a torque of 20 Nm ±10%.15. Check the clearance in relation to the tightening torque.16. Replace the cover using screws . Use a drop of Loctite 242 or 243.17. Position the manipulator so that the tubular shaft points upwards.18. Fill (30 ml) oil into the gear of axis 4. See Maintenance of IRB 1400.19. Install the motor of axis 4 as in Chapter 5.1, Changing the motor.20. Install drive mechanism as in Chapter 7.2, Dismantling the complete drivemechanism of axes 5 and 6.21. Replace the wrist as in Chapter 7, The Wrist and Axes 5 and 6.22. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screws for the large drive gear, item : 8.3 Nm ±10%Screws for the intermediate gear of axis 4, item : 20 Nm ±10%5.3 Dismantling the drive gear on the tubular shaftSee 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. Unscrew screws that hold the intermediate gear in place.6. Unscrew screws that hold the large drive gear and then dismantle it.N.B. Put the shims from under the drive gear in a safe place.Product Manual IRB 1400 27