Disassembly/Assembly
Guidelines
IRB 6400
Page 6 - 21
Axes 2 & 3 Guidelines
UPPER ARM ASSEMBLY Installation
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
1. POSITION UPPER ARM ASSEMBLY IN PLACE ON LOWER ARM
FRAME (L17).
2. MOUNT SHAFTS (L16) AND (L18):
a. Lubricate shaft threads with Molycote 1000 grease.
b. Carefully insert shafts through lower arm frame (L17) bore and
screw into upper arm housing (U61) threaded bore. Torque to 224
ft-lb.
c. Apply Loctite 242 to set screws (U64) and thread into housing
(U61). Screw against shafts to lock then from turning.
NOTE: After screwing in both shafts (L16) and (L18) as
outlined above, assemble components
(L8,10,11,12,13,14,15) on (L16) shaft first (left side as
viewed from robot rear). Note that spacer (L14) is asse m-
bled ONLY on shaft (L16), not on shaft (L18).
3. INSTALL BEARING COMPONENTS ONTO SHAFT (L16):
a. Install V-Ring (L15) on shaft, square side to shaft shoulder.
b. Install spacer (L14) onto shaft.
c. Insert sealing ring (L13) in lower arm frame (L17) bore, larger
diameter of ring turned inward.
d. Insert outer race of bearing (L12) into lower arm frame (L17)
bore, up against V-Ring (L15).
e. Pack inner race of bearing (L12) with grease (L87) and install on
shaft (L16); position into bearing outer race.
f. Insert NILOS ring (L11) against bearing (L12).
g. Install spacer (L10) against bearing (L12).
4. INSTALL NUT (L8):
a. Apply Loctite 242 (L9) to nut (L8) and thread onto shaft (L16).
b. Tighten nut (L8), torque 67 ft-lb.Then loosen nut. (See figure on
previous page.)
c. Re-tghten nut (L8), torque 67 ft-lb. This re-tightening the nut only
applies to the left side shaft assembly
E
E
REFERENCE DRAWINGS
Exploded View:
“L” (pg 6-24, 12-3)
Assemblies:
3HAA 0001-ZT ( pg 13-5)
3HAB 4163-2 ( pg 13-23)
3HAA 0001-AAS ( pg 14-A)
3HAB 4254-2 ( pg 14-J)
REQUIRED TOOLS
“U” (pg 6-25, 12-4)
Hand Tools
Lubricating Grease
Molycote 1000 Grease
Loctite 242
Torque Wrench (67-224 ft-lb)
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