4 Repair
4.5.3 Dismantling the drive gear on the tubular shaft
100 3HAC026320-001 Revision: A
To assemble
Tightening torque
Screws of drive gear, item <18>: 8.3 Nm ±10%
Action Note/Illustration
1.
Shim between drive gear and the rear bear-
ing.
Shim thickness = B - A + 0.05 mm, see Fig-
ure 24.
See foldout/pos. <8/17> and
<8/3>
Figure 24: Measuring the Shim Thickness of
the Drive Gear of Axis 4
2.
Install the drive gear using screws See foldout/pos. <8/18> (screws)
Torque, 8.3 Nm ±10%.
Note!
Do not forget the shims.
3.
Screw the screw and 2 washers into the
drive gear. Lock using Loctite 242 or 243.
See foldout/pos. <8/19> and <8/20>
4.
Mount the intermediate gear. Detailed in section:
Changing the intermediate gear
including sealing on page 97.
5.
Lubricate the drive gear with grease (30 g).
6.
Install the motor of axis 4. Detailed in section:
Changing the motor on page 95.
7.
Replace the cover using screws. Lock using
a drop of Loctite 242 or 243.
See foldout/pos. <8/25> and <8/26>
8.
Mount the drive mechanism. Detailed in section:
Dismantling the complete drive
mechanism of axes 5 and 6 on page
107.
9.
Mount the wrist. Detailed in section:
Dismantling the wrist on page 106
10.
Calibrate the robot. Detailed in section:
Calibration methods on page 115
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