4 Repair4.2.2 Changing the gearbox68 3HAC021111-001 Revision: B4.2.2 Changing the gearboxAxis 1 gearbox is of the conventional type, manufactured with a high degree of precision and,together with the gearboxes for axes 2 and 3, forms a complete unit.The gearbox is not normally serviced or adjusted.Note! If the gearbox on any of the axes 1, 2 or 3 is changed, the whole unit mustbe changed.See foldout 1 (6 for IRB 1400H) in the list of spare parts.To dismantle 1. Remove the motors in axes 1, 2 and 3 as described in section Changing the motorof axis 1 on page 67, section Changing the motor of axis 2 on page 72 and sectionChanging the motor of axis 3 on page 77.2. Remove the cabling and serial measuring boards according to section Changingthe cabling in axes 1, 2 and 3 on page 91 and section Changing serial measuringboards on page 90.3. Remove the tie rod as described in this chapter, section Changing the tie rod onpage 80.4. Remove the parallel arm according to section Dismantling the parallel arm onpage 79.5. Remove the balancing springs in accordance with section Dismantling the bal-ancing springs on page 76 (not valid for IRB 1400H).6. Dismantle the upper arm as described in section Dismantling the complete upperarm on page 81.7. Dismantle the lower arm according to section Dismantling the lower arm on page74.8. Place the remaining parts of the manipulator upside-down on a table or similarsurface and remove the bottom plate <1/5>. See Figure .Make sure that the foot is stable.How to Position the Foot when dismantling Axes 1, 2 and 3.9. Undo screws <1/4>.10.Separate the base from the gear unit.
