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4.5.3 Dismantling the drive gear on the tubular shaft
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 in accordance with section Dismantling the com-
3. Dismantle the motor of axis 4 as specified in section Changing the motor on page
4. Remove the cover <25>.
5. Unscrew screws <12> that hold the intermediate gear in place.
6. Unscrew screws <18> that hold the large drive gear <17> and then dismantle it.
N.B! Put the shims from under the drive gear in a safe place.
To assemble
Shim between drive gear <17> and the rear bearing <3>.
Shim thickness = B - A + 0.05 mm, see Figure .
Measuring the Shim Thickness of the Drive Gear of Axis 4.
1. Install the drive gear using screws <18> and tighten to a torque of 8.3 Nm ±10%.
N.B! Do not forget the shims.
2. Screw screw <19> and 2 washers <20> into the drive gear. Lock using Loctite 242
3. Mount the intermediate gear according to section Changing the intermediate gear
4. Lubricate the drive gear with grease (30 g).
5. Install the motor of axis 4 as described in section Changing the motor on page 84.
6. Replace the cover <25> using screws <26>. Lock using a drop of Loctite 242 or
3HAC021111-001 Revision: B
plete drive mechanism of axes 5 and 6 on page 95.
84.
or 243.
including sealing on page 85.
243.
4.5.3 Dismantling the drive gear on the tubular shaft
4 Repair
87
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