Axis 3 Repairs
28 Product Manual IRB 640
13. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
Screws for motor, item 1.31: 50 Nm
Screw for gear, item 1.30: 70 Nm
4.2 Replacing gearbox
Refer to foldout nos. 5.
Dismounting:
1. Dismount motor as described in Chapter 4.1, Replacing motor.
2. Unscrew screws <1.38.2> and dismount the motor socket <1.38.1>.
3. Mount 2 guide pins, M12 through the gearbox.
4. Loosen screws <1.5> and <1.7>.
5. Pull out the gear box <1.3>, hanging on the guide pins.
Mounting:
6. Clean the surfaces in the frame, lower arm and gearbox.
7. Mount 2 guide pins, M12.
8. Mount friction rings <1.16, 1.37> and O-ring <1.4>.
9. Put the gear box on the 2 guide pins and place the friction ring <1.16> on to the
gearbox.
10. Mount screws <1.5> and <1.7>, lubricate with Molycote 1000 and tighten
screw <1.7> with 300 Nm and screw <1.5> with 120 Nm.
11. Mount O-ring <1.14>.
12. Put the motor socket on the 2 guide pins.
Note! The position of the magnetic plugs.
13. Mount screws <1.38.2>, lubricate with Molycote 1000 and tighten to a torque of
120 Nm.
14. Mount the motor as described in Chapter 4.1, Replacing motor.
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