Axis 6 Repairs
40 Product Manual IRB 640
16. Remove the wedges and check that there is a gap and that the tilt housing can
move about 1 mm. Use Loctite on the KM nuts and tighten them until the
movement is removed.
N.B. Stop as close to clearance-free as possible. The KM nuts should be tightened
with a spanner 210 degrees to achieve the correct preloading.
17. Mount covers <15> and <16>.
18. Refill the bearing house with grease.
19. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
KM-nut, <14>: 90 Nm
7.2 Replacing motor/gear axis 6
Refer to foldout nos. 7 and 9.
It is not necessary to remove the tilt housing from the upper arm.
Dismounting:
1. Dismount cabling for axis 6.
2. Drain the grease. Open both magnetic plugs.
3. Unscrew screws <13>. Dismount shaft <5> with the help of pinscrews M8x65.
4. Loosen screws <6>.
5. Free the drive unit and lift it out.
6. Loosen screws <9/4>. Dismount the gear with the help of 2 screws (M8 holes in
the motor flange).
7. Loosen screws <9/5>. 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 <9/5>, apply Loctite 243.
NOTE!
Be very 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.
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