ABB IRB 6400R Product On-Line Manual page 364

1 General Description ........................................................................................................ 3
1.1 Document Guidance ............................................................................................... 5
1.2 Caution.................................................................................................................... 6
1.3 Mounting Instructions for Bearings and Seals ....................................................... 6
1.3.1 Bearings ....................................................................................................... 6
1.3.2 Seals ............................................................................................................. 7
1.4 Instructions for Tightening Screw Joints................................................................ 9
1.5 Tightening Torques ................................................................................................. 10
1.5.1 Screws with slotted or cross recessed head.................................................. 10
1.5.2 Screws with hexagon socket head................................................................ 10
2 Motor units ...................................................................................................................... 11
2.1 General.................................................................................................................... 11
3 Motors Axes 1-3............................................................................................................... 13
3.1 Motor axes 1 ........................................................................................................... 13
3.2 Motor axes 2 and 3 ................................................................................................. 14
4 Motors and Gears Axes 4-6 ............................................................................................ 15
4.1 Motor axis 4............................................................................................................ 15
4.2 Intermediate gear .................................................................................................... 16
4.3 Axes 5 and 6 ........................................................................................................... 17
4.4 Wrist ....................................................................................................................... 18
4.5 Arm extender .......................................................................................................... 19
4.6 Dismounting Motor axis 5...................................................................................... 20
4.7 Motor/gear axis 6.................................................................................................... 21
4.8 Checking play in axes 5 and 6 ................................................................................ 22
4.9 Adjusting play in axis 5 .......................................................................................... 23
4.9.1 Adjusting the intermediate gear unit............................................................ 23
4.9.2 Adjusting the intermediate gear unit bearings ............................................. 24
5 Balancing unit.................................................................................................................. 25
5.1 Dismounting balancing unit.................................................................................... 25
5.2 Replacing guide ring, balancing unit...................................................................... 27
5.3 Replacing bearings, balancing unit......................................................................... 28
6 Arm System...................................................................................................................... 29
6.1 Upper Arm.............................................................................................................. 29
6.2 Parallel bar with bearings ....................................................................................... 31
6.3 Balancing weight .................................................................................................... 32
6.4 Lower Arm ............................................................................................................. 32
Product Manual IRB 6400R
CONTENTS
Repairs
Page
1