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4.5.2 Changing the intermediate gear including sealing
See foldout 8 in the list of spare parts.
To dismantle
1. Dismantle the wrist as described in section Dismantling the wrist on page 94.
2. Dismantle the drive mechanism according to section Dismantling the complete
3. Dismantle the motor of axis 4 as specified in section Changing the motor on page
4. Remove the cover <25>.
5. Undo screws <18> fixing the large drive gear <17> and dismantle it.
N.B! Put the shims in a safe place.
6. Undo screws <12>.
7. Push the intermediate gear out of the arm housing.
To assemble
1. Grease the seating of the arm housing to provide radial sealing.
2. Push the gear unit down into the arm housing.
3. Screw in screws <12> together with their washers <13> and pull the gear down.
4. Mount the drive gear <17> using screws <18> and tighten to a torque of
N.B! Do not forget to insert shims <14, 15, 16> under the drive gear.
5. Tighten screws <12> to a torque of approximately 5 Nm.
6. Bend the pinion towards the large drive gear and then rotate it around the tubular
7. Then tighten screws <12> to a torque of 20 Nm ±10%.
8. Check the clearance in relation to the tightening torque.
9. Replace the cover <25> using screws <26>. Use a drop of Loctite 242 or 243.
10.Position the manipulator so that the tubular shaft points upwards.
11.Fill (30 ml) oil into the gear of axis 4. See section Oil in gears 1-4 on page 53.
12.Install the motor of axis 4 in accordance with section Changing the motor on page
13.Install drive mechanism <28> as described in section Dismantling the complete
14.Replace the wrist in accordance with section Dismantling the wrist on page 94.
15.Calibrate the robot as specified in section Calibration information on page 131.
3HAC021111-001 Revision: B
drive mechanism of axes 5 and 6 on page 95.
84.
8.3 Nm ±10%.
shaft a couple of times so that the clearance in the gears can adjust itself in rela-
tion to the highest point of the large drive gear.
84.
drive mechanism of axes 5 and 6 on page 95.
4.5.2 Changing the intermediate gear including sealing
4 Repair
85
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