4 Repair
4.2.2 Changing the gearbox
3HAC021111-001 Revision: B 69
To assemble 1. Place a new gear unit on the table.
2. Raise the base.
3. Screw in the screws <1/4> together with their washers <1/3>. Tighten using a
torque of 68 Nm ±10%.
4. Replace the bottom plate <1/5> using screws <1/7>.
5. Turn the foot.
6. Replace the lower arm as described in section Dismantling the lower arm on page
74.
7. Replace the parallel arm according to section Dismantling the parallel arm on
page 79.
8. Replace the upper arm as described in section Dismantling the complete upper
arm on page 81.
9. Replace the cabling in accordance with section Changing the cabling in axes 1, 2
and 3 on page 91 and section Changing serial measuring boards on page 90.
10.Replace the tie rod as described in section Changing the tie rod on page 80.
11.Replace the balancingd springs according to section Dismantling the balancing
springs on page 76 (not valid for IRB 1400H).
12.Calibrate the robot as described in section Calibration information on page 131.
Tightening
Torque
Screwed joint of base/gear unit, item <4>:68 Nm ±10%
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