Axis 2 Repairs
20 Product Manual IRB 640
16. Then mount the motor and gearbox for axis 3 as in Chapter 4.2, Replacing gearbox.
17. Secure the lower arm with the locking screws.
18. Mount the upper arm as in Chapter 4.5, Dismounting upper arm, complete.
19. Mount the parallel bar as in Chapter 4.4, Replacing parallel bar with bearings.
20. Mount the linkage according to Chapter 5, Link system.
21. Mount the cables as in Chapter 3.8, Dismounting cables, lower arm/upper arm.
22. Mount the balancing weight for axis 3, lubricate screws <1/3.142> with Molycote
1000 and tighten with 300 Nm.
23. Mount the balancing unit for axis 2 as described in Chapter 3.5, Dismounting bal-
ancing unit or Chapter 3.6, Replacing guiding ring, balancing unit.
Do not forget to remove the locking screws!
24. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
Screw joint balancing weight/parallel arm, item 1/3.142: 300 Nm.
3.4 Replacing bearing in lower arm
Refer to foldout no. 6:1.
Dismounting:
1. Remove the lower arm as in Chapter 3.3, Replacing lower arm.
2. Place the lower arm on a workbench or similar.
3. Dismount the parallel arm as in Chapter 4.3, Dismounting parallel arm.
4. Remove the bearings <3> with a puller.
Mounting:
5. Mount the spacer <4>.
6. Heat up the bearing <3> to max. 120
o
C before mounting it on the parallel arm <2>.
7. Mount parallel arm as in Chapter 4.3, Dismounting parallel arm.
8. Mount lower arm as in Chapter 3.3, Replacing lower arm.
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