Disassembly/Assembly
Guidelines
IRB 6400
Page 7 - 19
Axis 4 Guidelines
5. INSTALL TUBE SHAFT (U19) INTO HOUSING (U61):
a. Insert tube shaft into front of housing (U61).
b. Be sure that bearing (U46) and bearing (U43) are fully seated in
their housing (U61) bores.
c. Pull tube shaft into place as shown in below figure.
c. Mount spacer (U42) on end of tube shaft and up against bearing
(U43).
6. MOUNT MECHANICAL STOP (U25):
a. Rotate Axis 4 until stop mounting holes are visible.
b. Apply Loctite 242 (U12) to screws (U11).
c. Mount stop (U13) with screws (U11).
d. Rotate Axis 4 and insert rubber stopper (U26).
e. Attach Axis 4 stop.
7. MOUNT FINAL GEAR (U41) as outlined on page 7 - 15.
8. INSTALL UPPER CABLE (U14) as outlined in Section 10.
9. INSTALL WRIST ASSEMBLY (U10) as outlinedin Section 9.
10. REMOVE ALL HOISTS, MECHANICAL HARD STOPS, AND MISCEL-
LANEOUS BLOCKING.
11. CALIBRATE AXIS 4 as outlined in Section 11.
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