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4 Repair
4.2.2 Changing the gearbox
4.2.2 Changing the gearbox
Axis 1 gearbox is of the conventional type, manufactured with a high degree of precision and,
together with the gearboxes for axes 2 and 3, forms a complete unit.
The gearbox is not normally serviced or adjusted.
Note! If the gearbox on any of the axes 1, 2 or 3 is changed, the whole unit must
be changed.
See foldout 1 (6 for IRB 1400H) in the list of spare parts.
To dismantle
1. Remove the motors in axes 1, 2 and 3 as described in section Changing the motor
2. Remove the cabling and serial measuring boards according to section Changing
3. Remove the tie rod as described in this chapter, section Changing the tie rod on
4. Remove the parallel arm according to section Dismantling the parallel arm on
5. Remove the balancing springs in accordance with section Dismantling the bal-
6. Dismantle the upper arm as described in section Dismantling the complete upper
7. Dismantle the lower arm according to section Dismantling the lower arm on page
8. Place the remaining parts of the manipulator upside-down on a table or similar
Make sure that the foot is stable.
How to Position the Foot when dismantling Axes 1, 2 and 3.
9. Undo screws <1/4>.
10.Separate the base from the gear unit.
68
of axis 1 on page 67, section Changing the motor of axis 2 on page 72 and section
Changing the motor of axis 3 on page 77.
the cabling in axes 1, 2 and 3 on page 91 and section Changing serial measuring
boards on page 90.
page 80.
page 79.
ancing springs on page 76 (not valid for IRB 1400H).
arm on page 81.
74.
surface and remove the bottom plate <1/5>. See Figure .
3HAC021111-001 Revision: B
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