Replacing The Axis-1 Gearbox - ABB IRB 1410 Product Manual

4 Repair

4.3.2 Replacing the axis-1 gearbox

4.3.2 Replacing the axis-1 gearbox
General
Axis 1 gearbox is of the conventional type, manufactured with a high degree of
precision and, together with the gearboxes for axes 2 and 3, forms a complete unit.
The gearbox is not normally serviced or adjusted. See foldout 1 in chapter, Foldout.
Removing
1
2
3
4
5
6
7
8
Refitting
1
2
3
4
5
6
Continues on next page
94
Note
If the gearbox on any of the axes 1, 2 or 3 is replaced, the whole unit must be
replaced.
Action
Remove the motors on axes 1, 2 and 3.
Remove the cabling and serial measurement
board.
Remove the tie rod.
Remove the parallel arm.
Remove the balancing springs.
Remove the upper arm.
Remove the lower arm.
Place the remaining parts of the manipulator up-
side-down on a table or similar surface, and re-
move the bottom plate.
Action
Place a new gear unit on the table.
Raise the base.
Screw in the screws together with their washers.
Refit the bottom plate using screws.
Turn the foot.
Refit the lower arm.
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Note
Described in section: Replacing the
axis-1 motor on page 93, Replacing
the axis-2 motor on page 98
Replacing the axis-3 motor on
page 104.
Described in section: Replacing the
serial measurement board (SMB)
on page 117
Described in section: Replacing the
tie rod on page 107
Described in section: Replacing the
parallel arm on page 106
Described in section: Replacing the
balancing springs on page 103
Described in section: Replacing the
complete upper arm on page 108
Described in section: Replacing the
lower arm on page 101
See Figure 22, and foldout/pos.
<1/5>.
Note
See foldout/pos. <1/4> and <1/3>.
Tighten using a torque of 68 Nm
±10%.
See foldout/pos. <1/5> and <1/7>
Described in section: Replacing the
lower arm on page 101
Product manual - IRB 1410
3HAC026320-001 Revision: N
and