Disassembly/Assembly
Guidelines
IRB 6400
Page 5 - 8
Axis 1 Guidelines
GEAR REDUCTION UNIT (S59) Installation
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
1. CLEAN ALL COMPONENTS.
2. THREAD TWO M12x200 GUIDE PINS INTO TWO SCREW HOLES that
are for screws (S61) in frame housing (S21). Pick two holes that are
diametrically opposite each other. Pins help align and support
assembly of components.
3. MOUNT GEAR REDUCTION UNIT (S59) TO FRAME HOUSING (S21).
a. Lightly grease O-Ring (S58) with lubricating grease (S74). Posi-
tion O-Ring in place on gear reduction unit (S59).
b. Position friction ring (S57) in place on gear reduction unit (S59).
c. Slip gear reduction unit (S54) up over guide pins and into position
on the frame housing (S21).
d. Put Molycote 1000 grease on screws (S61) and washers (S60).
e. Insert six of the eight screws (S61) with washers (S60) through
gear reduction unit (S59) and into frame housing (S21). Just fin-
ger tighten screws at this time.
f. Remove threaded guide pins.
g. Insert remaining two screws (S61) with washers (S60).
h. Progressively tighten all screws (S61). Torque to 90 ft-lb.
4. SET ROBOT ONTO BASE (B24):
a. Lightly grease O-Ring (S63) with lubricating grease (S74). Set O-
Ring in place in base housing (B24).
b. Position friction ring (S62) and set in place in base housing (B24).
c. Insert two M12x200 threaded rods into threaded holes in base
that are for screws (S53). These rods are used for alignment.
d. Carefully lower robot until bearing (S46) is just about to enter its
seat in base housing (B24).
CAUTION: BE CAREFUL AND DO NOT DAMAGE CABLE HAR-
NESS.
e. Align bearing screw holes using two screws (S44).
f. Continue to lower robot until bearing (S46) is fully seated.
E
E
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)
Loctite 242
Permatex 3
Lubricating Grease
Molycote 1000
Loctite 577
ABB #3HAB 1067-6
Torque Wrench (90-224 ft-lb)
C
GEAR UNIT
WEIGHS
APPROX. 125 LB.
ROBOT WEIGHS
APPROX. 3500 LB.