Repairs Axis 3
Product Manual IRB 640 29
Tightening torque:
Screw joint gearbox/parallel arm, item 1. 7: 300 Nm
Screw joint gearbox/parallel arm, item 1.5: 120 Nm
Screw joint motor socket/frame, item 1.38.2: 120 Nm
4.3 Dismounting parallel arm
Refer to foldout no. 6 and 6:1.
Dismounting:
1. Remove the lower arm as in Chapter 3.3, Replacing lower arm.
2. Place the arm on a workbench.
3. Attach a hoist to the parallel arm.
4. Force the parallel arm to the right, seen from the rear.
5. Lift the parallel arm away.
Mounting:
6. Place the parallel arm in position.
7. Press the parallel arm into the lower arm.
8. Mount the lower arm as described in Chapter 3.3, Replacing lower arm.
4.4 Replacing parallel bar with bearings
Refer to foldout no. 1.
Dismounting:
IMPORTANT! Secure axis 3 with two extra mechanical stops, so that the
balancing weight for axis 3 cannot fall down, and secure the upper arm with a
hoist or similar.
1. Attach a hoist to the parallel bar.
NOTE! Mark the clamps so that they can be refitted in the same place.
2. Dismount clamps, screws <3.142> by the parallel arm.
3. Dismount clamps, screws <3.160> by the upper arm. Lift the bar away.
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