Disassembly/Assembly
Guidelines
IRB 6400
Page 7 - 12
Axis 4 Guidelines
FINAL GEAR (U41) Removal
NOTE: Removal of final gear (U41) requires
several tools and careful disassembly proce-
dures:
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. REMOVE UPPER CABLE (U14) as outlined In Section 10.
5. REMOVE COVER (U54) AND GASKET (U55):
a. Remove screws (U36) with washers (U37).
b. Remove cover (U54) including seal ring (U40) and cork gasket
(U55).
6. 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).
7. LOOSEN AXIS 4 MOTOR (U83) MOUNTING:
a. Loosen screws (U85).
b. Loosen motor in mounting.
REFERENCE DRAWINGS
Exploded View:
“U” (page 7-22, 12-4)
Assemblies:
E
E
Hand Tools
REQUIRED TOOLS
ABB #6896 134-AN
SKF #234 063
NIKE #1-AQU 8
ABB #6896 134-AT
NIKE #1-CH 612
NIKE #1-PP6
NIKE #1-HP 416
NIKE #1-VAD 2
NIKE #LS 150
NIKE #LS 51
3HAA 0001-AP ( pg 13-15)
3HAA 0001-CS ( pg 13-14)
3HAB 4163-2 ( pg 13-23)
3HAA 0001-AAS ( pg 14-A)
3HAB 4254-2 ( pg 14-J)
ABB #6896 134-EA
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