4 Repair
4.5.2 Changing the intermediate gear including sealing
98 3HAC026320-001 Revision: A
6.
Bend the pinion towards the large drive gear and
then rotate it around the tubular shaft a couple of
times so that the clearance in the gears can adjust
itself in relation to the highest point of the large
drive gear.
7.
Then tighten the screws. See foldout/pos. <8/12>
Torque, 20 Nm ±10%.
8.
Check the clearance in relation to the tightening
torque.
9.
Replace the cover using screws. Use a drop of
Loctite 242 or 243.
See foldout/pos. <8/25> and
<8/26>.
10.
Position the manipulator so that the tubular shaft
points upwards.
11.
Fill (30 ml) oil into the gear of axis 4. Detailed in section:
Oil in gears 1-4 on page 57.
12.
Install the motor of axis 4. Detailed in section:
Changing the motor on page
95
13.
Install drive mechanism. See foldout/pos. <8/28>
Detailed in section:
Dismantling the complete
drive mechanism of axes 5
and 6 on page 107.
14.
Replace the wrist in accordance with. Detailed in section:
Dismantling the wrist on page
106
15.
Calibrate the robot as specified in . Detailed in section:
Calibration methods on page
115.
Action Note/Illustration
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