Repairs Axis 3
Product Manual IRB 640 31
6. Remove the stop screws <1:1/137> in the lower arm.
7. Unscrew the shafts <1:1/203>. The bearing is pressed out with the shaft.
Note! Be careful with the threads on the shafts.
8. Lift the upper arm away.
Mounting:
9. Place the upper arm in position.
NOTE! Mount the left side first, complete, robot seen from behind!
10. Mount sealing ring <1:1/140>, turn the largest diameter inwards.
11. Mount the outer ring of the bearing in the upper arm.
12. Mount the V-ring <1:1/134> on the shaft.
13. Mount the shaft <1:1/203>. Lubricate the threads with Molycote 1000 and
tighten to a torque of 300 Nm.
14. Apply Loctite 243 on stop screw <1:1/137> and tighten to torque 34 Nm.
15. Insert the distance ring <1:1/138> on the shaft (only on the left side).
16. Mount the bearing <1:1/133>.
17. Insert the NILOS-ring <1:1/135> and distance ring <1:1/139>.
18. Mount the KM nut. Apply Loctite 243 and tighten the nut, then loosen the nut
again and tighten to a torque of 90 Nm.
19. Then mount the right side, paragraphs 12-18 (similar to the left side, except for
the distance ring <1:1/138). Just tighten the nut to 90 Nm.
20. Mount the parallel bar. Use Molycote 1000 and tighten screws <1/3.143> for
the clamp with a torque of 300 Nm.
21. Mount linkage as described in Chapter 5, Link system.
22. Mount the cabling as described in Chapter 3.8, Dismounting cables, lower arm/
upper arm.
23. Mount the balancing units as described in Chapter 3.5, Dismounting balancing
unit or Chapter 3.6, Replacing guiding ring, balancing unit.
NOTE! Remove the 2 extra mechanical stops!
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