Motors and Gears Axes 4-6 Repairs
22 Product Manual IRB 6400R
Tightening torque:
Screw joint motor/gear, item 4: 35 Nm
Screw joint, drive unit/ gear 5, item 15: 69 Nm
Screw joint, drive unit/shaft, item 33: 24 Nm
Cover, item 31: 10 Nm
4.8 Checking play in axes 5 and 6
Refer to foldout no. 2:11.
Axis 5
1. Drain the oil. Unscrew both the magnetic plugs. Dismount cover <2:11/38>.
2. Mount fixing plate 6896 134-CE in 3 screw holes for the cover.
3. Mount a PEK dial indicator with a magnetic foot on the fixing plate. Measure
against the front part of the turning disc, at D=160 mm, B= 8 mm. See Figure 4
How to measure the play in the wrist.
4. Use tool 6896 134-CD or mounted equipment to check the total play in axis 5.
The brake must be on. Max. play 0.30 mm at a distance of 196 mm from the
centre of axis 5. (Max. play for a new wrist is < 0.25 mm).
Adjustment: See Chapter 4.9.1, Adjusting the intermediate gear unit
Axis 6
1. Check the play in axis 6 with tool 6896 134-CF.
2. Measure with a PEK dial indicator against the tool. See Figure 4 How to meas-
ure the play in the wrist..
3. Max. play 0.06 mm at a distance of 190 mm from the centre of axis 6.
Comment: The play in the gear unit cannot be adjusted. If necessary, the gear
unit must be replaced, see Chapter 4.7, Motor/gear axis 6..
Figure 4 How to measure the play in the wrist.
190
D=160 h7
8
Axis 5
Axis 6
196
Wrist centre
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