Table of Contents
Advertisement
Repairs
4.7 Motor/gear axis 6.
Refer to foldout no 2:11§
It is not necessary to remove the wrist from the upper arm.
Dismounting:
1.
Dismount cabling for axis 6 as described in Chapter 7.3, Cabling, axis 6.
2.
Drain the grease. Open both magnetic plugs.
3.
Loosen screw <2:11/31> and remove the cover <2:11/38> Note! It is not neces-
sary to drain the wrist, before removing the cover.
4.
Dismount cover <2:11/16> by deforming it (a new cover must be mounted).
5.
Unscrew screws <2:11/13>. Dismount shaft <2:11/12> with help of pinscrews
M8x65).
6.
Loosen screws <2:11/33>.
5.
Free the drive unit from the shaft <2:11/34> and lift out.
6.
Loosen screws <2:12/4>. Dismount the gear with the help of 2 screws (M8
holes in the motor flange).
7.
Loosen screws <2:12/5>. Dismount the pinion with tool 3HAA 7601-043.
Mounting:
8.
Mount the pinion on a new motor. Use a pin screw, M5x120 with nut, to press
the gear in place. Tighten screw <2:12/5>, apply Loctite 243.
NOTE!
Be careful not to tap or hit the shaft axially, nor displace the shaft axially in any
way, as this could give rise to an incorrect air gap in the brake.
9.
Mount the gear on the motor, tighten with screws <2:12/5>. Use a new O-ring
<2:12/2>. Turn the gear so that the screw hole and magnetic oil plug come in
the right position. Torque 35 Nm.
10.
Move the sync plates and connector holder on the resolver side, over to the new
motor. When dismounting the gear: the sync plate <2:12/11> on the gear is
glued.
It is most important to clean the surface before applying the sync plate.
Use Ethanol, art. no. 1177 1012-205 and paper to clean.
Remove the dirt by wiping from the left to right just once. Change the paper
and wipe again, the same way. Continue until no dirt appears on the paper.
11.
Mount the motor unit in the wrist. Fix against the shaft item <2:11/34>. Tight-
ening screws <2:11/33> torque 69 Nm. Mount shaft <2:11/12> with screws
<2:11/13> with Loctite 243 tightening torque 24 Nm.
12.
Mount cover <2:11/16> (new cover) and cover <2:11/38>. Use a new gasket
<2:11/28>. Cross tighten screws <2:11/31> to 10 Nm.
13.
Fill oil in axis 5 as described in to the Maintenance Manual IRB 6400R.
14.
Pour grease into axis 6 as described in the Maintenance Manual IRB 6400R.
15.
Calibrate the robot as described in Chapter 9, Calibration.
Product Manual IRB 6400R
Motors and Gears Axes 4-6
21
Advertisement
Chapters
Table of Contents
Troubleshooting
