4 Repair
4.2.2 Changing the gearbox
3HAC026320-001 Revision: A 75
4.2.2 Changing the gearbox
General
Axis 1 gearbox is of the conventional type, manufactured with a high degree of precision and,
together with the gearboxes for axes 2 and 3, forms a complete unit.
The gearbox is not normally serviced or adjusted. See foldout 1 in chapter, Foldout.
NOTE!
Note! If the gearbox on any of the axes 1, 2 or 3 is changed, the whole unit must
be changed.
To dismantle
Action Note /Illustration
1.
Remove the motors in axes 1, 2 and 3. Described in section:
Changing the motor of axis 1 on
page 74.
Changing the motor of axis 2 on
page 79.
Changing the motor of axis 3 on
page 86.
2.
Remove the cabling and serial measuring
boards.
Described in section:
Changing the cabling in axes 1, 2
and 3 on page 103.
Changing serial measuring boards
on page 102
3.
Remove the tie rod. Described in section:
Changing the tie rod on page 90.
4.
Remove the parallel arm. Described in section:
Dismantling the parallel arm on
page 89.
5.
Remove the balancing springs. Described in section:
Dismantling the balancing springs
on page 85.
6.
Dismantle the upper arm. Described in section:
Dismantling the complete upper
arm on page 92
7.
Dismantle the lower arm according to . Described in section:
Dismantling the lower arm on page
82
8.
Place the remaining parts of the manipulator
upside-down on a table or similar surface and
remove the bottom plate. See Figure 19.
See foldout/pos. <1/5>.
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