Disassembly/Assembly
Guidelines
IRB 6400
Page 5 - 3
Axis 1 Guidelines
MOTOR (S16) Installation
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
1. CLEAN ALL COMPONENTS:
a. Cover gear reduction unit (S59) bore from stuff falling in.
b. Clean permatex from housing (S21) and motor (S16) mounting
surfaces.
2. MOUNT PINION (S18) ONTO MOTOR (S16) SHAFT:
NOTE:Pinion (S18) is matched to gear reduc-
tion unit (S59). If a new motor (S16) is being
installed, mount the old pinion on the new
motor shaft. If a new gear reduction unit (S59)
is to be installed, mount that new pinion on
the motor (S16) shaft.
a. Slide pinion (S18) onto motor (S16) shaft as far as it will go with
hand pressure. (Often, it will go all the way on with only hand
force.)
b. If pinion (S18) needs to be pressed on, screw a fully threaded
M10x150 rod into threaded end of motor (S16) shaft, slide a
washer over the M10x150 Rod, thread on an M10 hex nut, and
wind the nut down the stud, pressing on the pinion (S18).
CAUTION: DO NOT TAP OR HIT MOTOR SHAFT.
d. Remove the threaded rod, washer, and nut.
e. Apply Loctite 242 (S20) to screw (S19) and insert in end of motor
(S16) shaft. Torque to 52 ft-lb. Use strap wrench to hold pinion
from turning.
3. APPLY PERMATEX 3 (S17) TO MOTOR (S16) MOUNTING SURFACE .
4. CAREFULY SET MOTOR (S16) INTO PLACE, ENGAGING PINION
(S18) INTO REDUCTION DRIVE UNIT (S59). BE SURE ELECTRICAL
CONNECTORS POINT TOWARD THE REAR OF THE ROBOT.
5. INSTALL MOUNTING SCREWS (S13) AND WASHERS (S15):
a. Use Loctite 242 (S14) on screws (S13) and insert into motor
(S16) mounting flange.
b. Torque screws (S13) to 37 ft-lb.
REFERENCE DRAWINGS
Exploded View:
“B” (pg 5-17,12-1)
“S” (pg 5-18,12-2)
Assembly:
3HAB 4161-4 (pg 13-1)
Hand Tools
M10x150 Threaded Rod (1)
Strap Wrench
M10 Washer (1)
M10 Hex Nut (1)
REQUIRED TOOLS
3HAB 4162-2 (pg 13-23)
3HAA 0001-AAS (pg 14-A)
3HAB 4248-2 (pg 14-G)
3HAB 4250-1 (pg 14-H)
Loctite 242
Permatex 3
Torque Wrench (37-52 ft-lb)
E
E
C
MOTOR WEIGHS
APPROX. 50 LB.
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