Installation and Commissioning

The Wrist and Axes 5 and 6Repairs7.2 Dismantling the complete drive mechanism of axes 5 and 6See foldouts 8 and 9 in the list of spare parts.To dismantle:1. Dismantle the wrist as in section 7.1.2. Loosen the connectors on the motors of axes 5 and 6.3. Undo screws .4. Squeeze the drive shafts () together at the tip of the tubular shaft, in order thatthey can pass through the tube.5. Pull out the complete drive mechanism of axes 5 and 6.To assemble:6. Install the drive mechanism in the tubular shaft.7. Tighten screws to a torque of 8.3 Nm ±10%.8. Insert the cabling.9. Mount the wrist as in section 7.1.Tightening torque:Screwed joint of the drive mechanism, item : 8.3 Nm ±10%7.3 Changing the motor or driving belt of axes 5 and 6See foldout 9 in the list of spare parts.To dismantle:1. Dismantle the wrist as in section 7.1.2. Dismantle the drive mechanism as in 7.2.3. Undo screws and remove the appropriate motor.4. If the driving belt is to be changed, both motors must be removed.5. Undo screws and remove plate .34 Product Manual IRB 1400