Disassembly/Assembly
Guidelines
IRB 6400
Page 7 - 1
Axis 4 Guidelines
MOTOR (U83) Removal
NOTE: Axes 4, 5, & 6 are either all ELMO
motors or all Siemens motors. If replacing
motor, do not mix manufacturers.
1. POSITION ROBOT WITH UPPER ARM HORIZONTAL.
2. RELEASE AXIS 4 BRAKE TO ALLOW AXIS 4 TO MOVE TO THE NEU-
TRAL POSITION IT WILL BE IN AFTER MOTOR IS REMOVED.
3. TURN ELECTRICAL DISCONNECT SWITCH OFF AND LOCK IT IN
THE OFF POSITION.
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
4. DRAIN OIL FROM HOUSING (U61):
a. Remove plug (U59) and washer (U60).
b. Remove plug (U38) and washer (U39).
c. Drain oil.
d. Clean and re-insert plug (U59) with washer (U60) and plug (U38)
with washer (U39).
In rush situations you may skip to step 12 and skip backlash adjust-
ments until a later time.
REFERENCE DRAWINGS
Exploded Views:
“S” (pg 7-20, 12-2)
Assemblies:
Hand Tools
SKF Oil Injector #226 270
SKF Nipple 725 870
SKF Nipple 234 063
REQUIRED TOOLS
3HAB 4163-2 ( pg 13-23)
E
E
3HAA 0001-AAS ( pg 14-A)
3HAB 4252-2 ( pg 14-J)
3HAA 0001-AAH ( pg 13-13)
“L” (pg 7-21, 12-3)
“U” (pg 7-22, 12-4)
ABB #6896 134-AC
ABB #6896 134-EA
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