4 Repair
4.7.3 Dismantling the complete drive mechanism of axes 5 and 6
3HAC026320-001 Revision: A 107
4.7.3 Dismantling the complete drive mechanism of axes 5 and 6
General
See foldouts 8 and 9 in chapter, Foldout.
To dismantle
To assemble
Action Note/Illustration
1.
Dismantle the wrist. Detailed in section:
Dismantling the wrist on page
106.
2.
Loosen the connectors on the motors of axes 5 and
6.
3.
Undo screws. See foldout/pos. <8/29>
4.
Squeeze the drive shafts together at the tip of the
tubular shaft, in order that they can pass through
the tube.
See foldout/pos. <9/1>
5.
Pull out the complete drive mechanism of axes 5
and 6.
Action Note/Illustration
1.
Install the drive mechanism in the tubular shaft.
2.
Tighten screws. See foldout/pos. <8/29>
Torque, 8.3 Nm ±10%
3.
Insert the cabling.
4.
Mount the wrist. Detailed in section:
section Dismantling the wrist
on page 106
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