Disassembly/Assembly
Guidelines
IRB 6400
Page 5 - 12
Axis 1 Guidelines
7. DISCONNECT LOWER CABLE (B18) CONNECTORS:
a. Disconnect the following connectors: R2.CS, R2.CP, R2.MP5,
R2.MP4, R2.MP3, R2.MP2, R2.FAN (if fan installed). Keep con-
nectors out of grease.
b. Remove screws (S65) and pull out brake release unit (S64). Dis-
connect the following connectors:
R3.BU4-6 (X10), R3.BU1-6 (X8), R3.BU1-3 (X9). Keep connec-
tors out of grease.
8. ATTACH LIFTING EQUIPMENT as shown below. Take up all slack in
lifting cables, but do not actually lift yet. It is important to adjust
cable lengths that result in the lift action being straight up and
straight down to keep bearing (S46) squared to its bore in base
housing (B24).
CAUTION: ROBOT MUST BE LIFTED STRAIGHT UP IN A BAL-
ANCED CONDITION! BE SURE SLING LENGTHS ARE COR-
RECT FOR LIFTING.
9. DISCONNECT GEAR REDUCTION UNIT (S59) FROM BASE HOUSING
(B24):
a. Remove screws (S50). Access to screws is through access holes
in frame housing (S21).
b. Remove screws (S53). Access to screws is through access holes
in frame housing (S21). Rotate frame (S21) to align holes to
screws.
C
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