Link system Repairs
34 Product Manual IRB 640
Mounting:
Lower rod
The bearings can take a skew setting. But be careful.
14. Apply Loctite on the shaft before mounting the ring <205.31>, see foldout 1:4
view D-D and E-E. Mount ring <205.31> on both the upper and lower shaft.
15. Mount the lower rod <205.20> with bearings <205.21>.
16. Refill the bearing with grease.
17. Mount KM-nut <205.6> at the upper shaft. Tighten to 50 Nm.
18. Mount friction washer <205.32>, support washer <205.28> and screw
<205.29> use Loctite 243.
19. Mount a new cover <205.24>.
Upper rod
Note! When changing bearing, pushing a bearing is only allowed on its text
side. The other side is not hard enough.
20. Place ring <205.4>, support ring <205.5>, sealing ring <205.3> and the inner
races of the bearings on the front and rear shaft. Grease the bearing.
21. Mount the upper rod <205.1>.
22. Mount sealing ring <205.3>, support washer <205.5> and KM-nuts <205.6>,
use Loctite 243. Tighten to a torque of 50 Nm.
23. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
KM-nut, item 205.6: 50 Nm
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