Repairs Axis 1
Product Manual IRB 640 15
15. Lower the arm system.
16. Apply Loctite 577 on screws <2/43, 45>. Do not tighten the screws. Rotate the
gear approx. 10 turns (input shaft) forwards and backwards, using the tool
3HAC 0266-1. Tighten first screws <2/43> to a torque of 300 Nm and then screws
<2/45> to a torque of 120 Nm.
Note! The sequence when tightening the screws.
17. Mount screws <2/6>, lubricate with Molycote 1000 and tighten to a torque of
120 Nm.
18. Mount motor and cabling as described in Chapter 2.1, Replacement of motor and
Chapter 2.2, Cabling axis 1.
19. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
Screw joint gear/base, item 2/43: 300 Nm
Screw joint gear/base, item 2/45: 120 Nm
Screw joint gear/frame, item 4/6: 120 Nm
Screw joint bearing/base, item 2/6: 120 Nm
2.4 Dismounting joint bearing
Refer to foldout 4.
Dismounting:
1. Dismount the arm system as described in Chapter 2.3, Replacing the gearbox.
2. Unscrew screws <3> and remove the joint bearing.
Mounting:
3. Apply grease to the bearing seat and push it on with screws <3>. Lubricate screws
with Molycote 1000 and tighten with a torque of 120 Nm.
4. Refit the arm system as described in Chapter 2.3, Replacing the gearbox.
Tightening torque:
Screw joint bearing, item 3: 120 Nm.
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