Axis 1 Repairs
14 Product Manual IRB 640
2.3 Replacing the gearbox
Refer to foldouts no. 2 and 4.
Dismounting:
1. Dismount motor and the cabling, as described in Chapter 2.1, Replacement of
motor and Chapter 2.2, Cabling axis 1.
2. Disconnect the cables and the air hose that comes through the lower arm, and is
connected to the frame.
3. Attach a hoist in existing lifting eye bolts.
For instructions about lifting, see Chapter 7, Installation and Commissioning.
To facilitate dismounting, it is essential that the arm system is evenly balanced.
Move the lower arm slightly backwards and allow the upper arm to move down
as far as possible, in order to concentrate the centre of gravity as close as possible.
If there is any load on the wrist, or any other equipment, the positioning may be
affected.
4. Unscrew screws <2/43, 45> for the gear. Accessible through holes in the frame.
5. Remove screws <2/6> holding the joint bearing.
6. Lift the arm system straight up.
7. Place the arm system on some kind of support.
Make sure that the arm system is properly supported, so that the gearbox can be
safely removed.
8. Loosen screws <4/6> for the gearbox.
Mounting:
9. Mount two guide pins, M12x200 under the frame, to facilitate mounting of the
friction ring and gear.
10. Fit O-ring <4/11>, friction ring <4/13> and gear <4/12>. Apply Molycote 1000 on
the screws <4/6> and tighten to a torque of 120 Nm.
11. Mount two guide pins, M12x300 in the manipulator base.
12. Mount O-ring <2/12> at the bottom in the base.
13. Lift the arm system and then lower it carefully until the joint bearing is just about
to enter the bearing seat.
14. Align the holes in the bearing <4/2> with the holes in the base, with two screws.
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