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4.7.2 Dismantling the complete drive mechanism of axes 5 and 6
See foldouts 8 and 9 in the list of spare parts.
To dismantle
1. Dismantle the wrist according to section Dismantling the wrist on page 94.
2. Loosen the connectors on the motors of axes 5 and 6.
3. Undo screws <8/29>.
4. Squeeze the drive shafts (<9/1>) together at the tip of the tubular shaft, in order
5. Pull out the complete drive mechanism of axes 5 and 6.
To assemble
1. Install the drive mechanism in the tubular shaft.
2. Tighten screws <8/29> to a torque of 8.3 Nm ±10%.
3. Insert the cabling.
4. Mount the wrist as described in section Dismantling the wrist on page 94.
Tightening torque
Screwed joint of the drive mechanism, item <8/29>:8.3 Nm ±10%
3HAC021111-001 Revision: B
4.7.2 Dismantling the complete drive mechanism of axes 5 and 6
that they can pass through the tube.
4 Repair
95
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