Omron iX4 User Manual page 134

6.12 Replacing a Ball Joint Socket Insert
1. Remove the outer arm from the ball joint. This does not require any tool and can be
accomplished by hand.
2. The inserts have a threaded hole to facilitate removal. To extract the old insert, use an
M4 bolt to thread into the insert and then pull it out.
3. To install the new insert, press it into place by hand ensuring that it is centered and
fully seated.
4. After the insert is in place, install the outer arm on the ball joint.
5. Repeat steps 1 through 4 for all ball joint socket inserts that need to be replaced to com-
plete this procedure.
For the iX4-650HS/800HS robots, use the following procedure to replace a ball joint socket
insert.
The inserts used in the ball joints for the iX4-650HS/800HS robots must seal very
tightly. If simply pushed into the ball joint socket, it forms a pocket of com-
pressed air that pushes the insert back out.
Because of this, the ball joint insert must be cooled sufficiently to make it shrink.
It can then be inserted into the ball joint, where it will warm up and expand to
form a seal.
WARNING: BURN RISK
Dry ice can cause burns if touched. Wear well-insulated gloves when you
handle the dry ice. You may want to wear lighter gloves to handle the cold
inserts.
1. Remove the old insert.
a. If the insert is held tightly, you can facilitate its removal by packing the insert
with dry ice. Have dry ice touching as much of the insert surface as possible.
Leave it for 15 minutes.
b. Turn the ball joint socket so the insert faces down, and tap it lightly on some-
thing. The insert should fall out.
2. Pack the new insert in dry ice.
It typically takes 15 minutes packed in dry ice for the insert to shrink enough to fit into
and stay in the ball joint.
3. Wearing gloves, put the cooled insert into the ball joint.
134 iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Extraction
Hole
22793-000 Rev. A