Disassembly/Assembly
Guidelines
IRB 6400
Page 4 - 18
Maintenance
Adjusting Play Between Axis 4 Motor Pinion (U42)
and Intermediate Gear (U74):
1. Place motor at point where motor pinion teeth start to mesh with
intermediate gear teeth.
2. Release the brake for the axis 4 motor using a 24VDC power supply.
3. Use the mounting screws to pull the motor into place.
4. After motor is firmly in place, remove 24VDC power supply for the brakes
and then remove one mounting screw at a time, apply Loctite 242, re-
insert, and torque to 16.2 ft lbs.
5. Replace the axis 4 gearbox cover.
6. Refill axis 4 gearbox with oil, 1.75 US Gallons.
Checking Axis 5 Gear Play
The following conditions are to exist before play is checked:
• Oil drained from gear case (W8).
• Gear case cover (W68) and gasket (W67) removed.
• Axis 5 motor (W52) brake engaged holding axis 5 from turning.
Checking play:
• Mount fixing plate tool ABB# 6896 134-CE in three cover screw holes.
• Mount a magnetic dial indicator to the fixing plate tool.
• Measure play against front part of turning disc, at D=160 mm, B=8 mm.
• Play is to be 0.00-0.30 mm at a distance of 196 mm from center of axis 5.
• If checking the gear play of a new wrist, play is to be 0.00 0.15 mm at a
distance of 196 mm from center of axis 5.
REFERENCE DRAWINGS
Exploded View:
3HAA 0001-GX (pg 13-18)
Assemblies:
“W” (pg 12-5)
3HAA 0001-GX (pg 13-21)
REQUIRED TOOLS
ABB #6896 134-CE
Torque Wrench (9-70 ft-lb)
Loctite 242
Dial Indicator
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