Product manual

Motors and Gears Axes 4-6 Repairs

22 Product Manual IRB 6400R

Tightening torque:

Screw joint motor/gear, item 4: 35 Nm

Screw joint, drive unit/ gear 5, item 15: 69 Nm

Screw joint, drive unit/shaft, item 33: 24 Nm

Cover, item 31: 10 Nm

4.8 Checking play in axes 5 and 6

Refer to foldout no. 2:11.

Axis 5

1. Drain the oil. Unscrew both the magnetic plugs. Dismount cover <2:11/38>.

2. Mount fixing plate 6896 134-CE in 3 screw holes for the cover.

3. Mount a PEK dial indicator with a magnetic foot on the fixing plate. Measure

against the front part of the turning disc, at D=160 mm, B= 8 mm. See Figure 4

How to measure the play in the wrist.

4. Use tool 6896 134-CD or mounted equipment to check the total play in axis 5.

The brake must be on. Max. play 0.30 mm at a distance of 196 mm from the

centre of axis 5. (Max. play for a new wrist is < 0.25 mm).

Adjustment: See Chapter 4.9.1, Adjusting the intermediate gear unit

Axis 6

1. Check the play in axis 6 with tool 6896 134-CF.

2. Measure with a PEK dial indicator against the tool. See Figure 4 How to meas-

ure the play in the wrist..

3. Max. play 0.06 mm at a distance of 190 mm from the centre of axis 6.

Comment: The play in the gear unit cannot be adjusted. If necessary, the gear

unit must be replaced, see Chapter 4.7, Motor/gear axis 6..

Figure 4 How to measure the play in the wrist.

190

D=160 h7

Axis 5

Axis 6

196

Wrist centre