Installation and Commissioning
Installation and Commissioning 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
Axis 4 RepairsTo assemble:Shim between drive gear and the rear bearing .Shim thickness = B - A + 0.05 mm, see Figure 5.Figure 5 Measuring the shim thickness of the drive gear of axis 4.7. Install the drive gear using screws and tighten to a torque of 8.3 Nm ±10%.N.B. Do not forget the shims.8. Screw screw and 2 washers into the drive gear. Lock using Loctite 242or 243.9. Mount the intermediate gear as in Chapter 5.2, Changing the intermediate gearincluding sealing.10. Lubricate the drive gear with grease (30 g).11. Install the motor of axis 4 as in Chapter 5.1, Changing the motor.12. Replace the cover using screws . Lock using a drop of Loctite 242 or 243.13. Mount the drive mechanism as in Chapter 7.2, Dismantling the complete drive mechanismof axes 5 and 6.14. Mount the wrist as in Chapter 7.1, Dismantling the wrist.15. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screws of drive gear, item : 8.3 Nm ±10%28 Product Manual IRB 1400
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Axis 4 RepairsTo assemble:Shim between drive gear <strong>and</strong> the rear bearing .Shim thickness = B - A + 0.05 mm, see Figure 5.Figure 5 Measuring the shim thickness of the drive gear of axis 4.7. Install the drive gear using screws <strong>and</strong> tighten to a torque of 8.3 Nm ±10%.N.B. Do not forget the shims.8. Screw screw <strong>and</strong> 2 washers into the drive gear. Lock using Loctite 242or 243.9. Mount the intermediate gear as in Chapter 5.2, Changing the intermediate gearincluding sealing.10. Lubricate the drive gear with grease (30 g).11. Install the motor of axis 4 as in Chapter 5.1, Changing the motor.12. Replace the cover using screws . Lock using a drop of Loctite 242 or 243.13. Mount the drive mechanism as in Chapter 7.2, Dismantling the complete drive mechanismof axes 5 <strong>and</strong> 6.14. Mount the wrist as in Chapter 7.1, Dismantling the wrist.15. Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screws of drive gear, item : 8.3 Nm ±10%28 Product Manual IRB 1400
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