ABB IRB1410, Product Manual

Page: 102 / 166

4 Repair
4.5.3 Dismantling the drive gear on the tubular shaft
100 3HAC026320-001 Revision: A
To assemble
Tightening torque
Screws of drive gear, item <18>: 8.3 Nm ±10%
Action Note/Illustration
1. Shim between drive gear and the rear bear-
ing.
Shim thickness = B - A + 0.05 mm, see Fig-
ure 24.
See foldout/pos. <8/17> and
<8/3>
Figure 24: Measuring the Shim Thickness of
the Drive Gear of Axis 4
2. Install the drive gear using screws See foldout/pos. <8/18> (screws)
Torque, 8.3 Nm ±10%.
Note!
Do not forget the shims.
3. Screw the screw and 2 washers into the
drive gear. Lock using Loctite 242 or 243. See foldout/pos. <8/19> and <8/20>
4. Mount the intermediate gear. Detailed in section:
Changing the intermediate gear
including sealing on page 97
.
5. Lubricate the drive gear with grease (30 g).
6. Install the motor of axis 4. Detailed in section:
Changing the motor on page 95 .
7. Replace the cover using screws. Lock using
a drop of Loctite 242 or 243. See foldout/pos. <8/25> and <8/26>
8. Mount the drive mechanism. Detailed in section:
Dismantling the complete drive
mechanism of axes 5 and 6 on page
107
.
9. Mount the wrist. Detailed in section:
Dismantling the wrist on page 106
10. Calibrate the robot. Detailed in section:
Calibration methods on page 115