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3HAC028197-001 Revision: A
Action
2. Make sure the o-ring is fitted to the rear of
the gearbox. Lubricate the o-ring with
grease.
3. Release the holding brake of motor axis 6. Detailed in section
4. Insert the gearbox, axis 6 into the wrist unit. Art. no. is specified in
5. Secure the gearbox with the attachment
screws and washers.
6. Refit the turning disk.
7. Perform a leak-down test.
8. Refill the gearbox with oil.
9. Recalibrate the robot.
4.7.3. Replacement of gearbox, axis 6
Note
Art. no. is specified in
Required equipment
on page
255.
xx0100000132
•
A: O-ring, gearbox axis 6
Manually releasing the
brakes on page
56.
Required equipment
on page
255.
Shown in the figure
Location of gearbox on
page
255.
Make sure the gears of the gearbox mate
with the gears of the motor!
Shown in the figure
Location of gearbox on
page
255.
8 pcs : M8 x 40, 12.9 quality UNBRAKO,
Tightening torque: 30 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 276
before fitting.
Detailed in section
Refitting, turning disk on
page
181.
Detailed in section
Performing a leak-down
test on page
142.
Detailed in section
Oil change, gearbox
axis 6 on page
130.
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is included
in section
Calibration
information.
Continues on next page
4 Repair
Continued
257
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