Repairs Axis 1
Product Manual IRB 640 11
2 Axis 1
2.1 Replacement of motor
Refer to foldout no. 2.
Dismounting:
Be careful not to tap or hit the shaft axially, nor displace the shaft axially in any
way, as this could give rise to an incorrect air gap in the brake.
1. Remove the cover in the frame between axes 2 and 3.
2. Unscrew the 3 screws on the top of motor 1. Remove the cover.
3. Unscrew the 4 cable inlet cover screws.
4. Disconnect connectors R2.MP1 and R3.FB1 in the motor.
5. Unscrew the motor flange, 4 screws <9>. Use two screws in the threaded holes
(M8) on the motor flange, to push out the motor from its attachment.
6. Loosen screw <15>, fit a 150 mm screw, and pull off the pinion with the help of a
puller.
Mounting:
7. Mount a threaded pin in the motor shaft and press the gear on to the shaft with a
nut and washer. Mount screw <15> through the gear, torque 70 Nm, Loctite 243.
Axial force through the bearings in the motor is prohibited.
8. Ensure that assembly surfaces are clean and unscratched.
9. Apply sealing liquid Permatex 3 under the motor flange.
10. Mount the motor, grease screw <9> with Molycote 1000 and tighten with a torque
of 50 Nm.
11. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
Screws for motor, item 9: 50 Nm.
Screw for motor gear, item 15: 70 Nm.
To Next Page
Loading...
Need help?
General