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4 Repair
4.7.4. Replacement of gearbox, axis 4
Continued
358
Action
5. Fit two new friction washers onto the guide pins. Spare part no. is specified in
6. Push in the gearbox, axis 4, and the motor
flange.
If necessary, use screws in the attachment
holes to press in the motor flange.
7. Secure the motor flange to the upper arm
housing with 16 of the 18 washers and
attachment screws.
Secure with locking liquid.
8. Remove the guide pins and secure the
remaining two attachment screws as specified
in previous step.
9. Refit the motor, axis 4.
10. Refit gear Z3 to the gearbox with its gear
attachment screws.
11. Replace the gasket, cover axis 4.
12. Refit the cover, axis 4 gearbox with its
attachment screws and secure with locking
liquid.
13. Perform a leak-down test.
14. Refill the primary gearbox with oil.
15. Refill the secondary gearbox with oil.
16. Recalibrate the robot.
Note
equipment on page
356.
NOTE!
Make sure the surface beneath the
friction washers is clean and dry!
Shown in the figure
Location of
gearbox on page
355.
NOTE!
Make sure the motor flange is oriented
correctly by observing the oil plugs as
shown in the figure
Location of
gearbox on page
355.
18 pcs: M10 x 40; tightening torque:
65 Nm.
Detailed in section
Refitting, motor
axis 4 on page
320.
Shown in the figure
Location of
gearbox on page
355.
9 pcs: M12 x 50; tightening torque:
115 Nm.
6 pcs: M16 x 60: tightening torque:
300 Nm.
Art. no. is specified in
Required
equipment on page
356.
Tightening torque: 10 Nm.
Shown in the figure
Location of
gearbox on page
355.
Detailed in section
Performing a leak-
down test on page
216.
Further detailed in section
gearbox axis 4 on page
193.
Further detailed in section
gearbox axis 4 on page
193.
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
Calibration
information on page
371.
Continues on next page
3HAC022033-001 Revision: E
Required
Filling, oil,
Filling, oil,
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