3-14
151521-1CD
151521-1CD
3.5.3
Adjusting Gear Engagement (Gear Lash)
Normal adjustment of gear engagement provides zero lash at rest. The spring assembly provides
proper running lash.
1.
Jog the adaptor plate to the HOME position, pointing away from the drive pinion.
2.
Set up the dial indicators to rest on a ring gear tooth face on both gears to measure tangential
motion.
Fig. 3-13 Dial Indicator
3.
Set the robot speed to slow speed.
4.
Jog the pinion until the indicators show movement.
5.
Zero both indicators.
6.
Change jog speed to inching and rotate the pinion in reverse direction until movement is
detected on the pinion indicator.
7.
When the lash is properly adjusted, both indicators will read the same value.
8.
Use the adjusting screws as required to achieve 0 lash between the pinion and ring gears.
Take care not to over adjust.
9.
Once any lash has been eliminated, torque the spring assembly securing bolts to 100 Nm.
10.
Set dial indicator aside and jog the boom +/- 15-20 degrees while watching the ring and pinion
gears. The motion should be smooth and quite, with no visible lash between the two gears.
11.
Double check the engagement pattern. With full contact and lash removed, final torque the
spring assembly securing bolts to 370 Nm.
12.
Reinstall the pinion grease wiper and the drive gear cover.
The gear system may loosen some during the first few hours of operation. This would be evidenced by
noisy operation during boom movement, noise during aggressive robot motions, or visible lash between
the two gears when jogging the boom in TEACH. Adjust as required. Always check gear alignment
when adjusting the engagement.
3.6
Installation of Tooling and Fixtures
Your HD Drive Module is now ready for the installation of tooling and fixtures for your application.
Installation of tooling and fixtures should be performed by personnel who are familiar with the operation
of this system. Tooling and fixtures are supplied by the customer. After tooling is installed, test the
module for proper operation.
300
3
300
300
RING GEAR
TEETH
DIAL INDICATOR
300
3
300
300
300
3
300
300
Setup guages to
measure tangential
motion on both gears
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