Disassembly/Assembly
Guidelines
IRB 6400
Page 9 - 4
Axis 6 Guidelines
4. MOVE SYNC PLATES & CONNECTOR HOLDER:
a. If new motor is being installed, move sync plate (F1) & connector
holder on the resolver side over to new motor.
b. If new gear reduction unit (F17) is being installed, sync plate
(F13) on old gear reduction unit is glued on & cannot be moved.
Mount a new sync plate on new gear reduction plate. Clean sur-
face bedore mounting.
5. MOUNT DRIVE UNIT (F10) INTO MOUNTING POSITION IN WRIST
HOUSING (W8):
a. Insert drive unit (F10) into position in wrist housing (W8). Position
drive unit onto pilot diameter on gear (W34).
b. Insert screws (W36). Torque to 52 ft-lb.
c. Insert cover lit (W37). Use a new cover if old one was damaged in
removal.
6. INSTALL BEARING (W6):
a. Install bearing (W6) and spacer (W7) onto bearing retainer (W5).
Set in place in wrist housing (W8) with bearing retainer pilot diam-
eter inserted into motor (F10) mounting bore.
b. Apply Loctite 242 to screws (W3).
c. Insert screws (W3) and torque to 18 ft-lb.
7. MOUNT COVER (W68):
a. Set cover (W68) with seal (W67) in place on wrist housing (W8).
b. Insert screws (W70) with washers (W69) and torque 7.5 ft-lb.
8. CONNECT MOTOR (F10) CABLING as outlined in Section 9, page 10.
9. FILL AXIS 5 WITH OIL as spceified in Section 4, page 11.
10. FILL AXIS 6 WITH GREASE as specified in Section 4, page 12.
11. CALIBRATE AXES 5 & 6 as outlined in Section 11.
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