4 Repair4.5.3 Dismantling the drive gear on the tubular shaft3HAC021111-001 Revision: B 874.5.3 Dismantling the drive gear on the tubular shaftSee foldout 8 in the list of spare parts.To dismantle 1. Dismantle the wrist as described in section Dismantling the wrist on page 94.2. Dismantle the drive mechanism in accordance with section Dismantling the com-plete drive mechanism of axes 5 and 6 on page 95.3. Dismantle the motor of axis 4 as specified in section Changing the motor on page84.4. Remove the cover <25>.5. Unscrew screws <12> that hold the intermediate gear in place.6. Unscrew screws <18> that hold the large drive gear <17> and then dismantle it.N.B! Put the shims from under the drive gear in a safe place.To assemble Shim between drive gear <17> and the rear bearing <3>.Shim thickness = B - A + 0.05 mm, see Figure .Measuring the Shim Thickness of the Drive Gear of Axis 4.1. Install the drive gear using screws <18> and tighten to a torque of 8.3 Nm ±10%.N.B! Do not forget the shims.2. Screw screw <19> and 2 washers <20> into the drive gear. Lock using Loctite 242or 243.3. Mount the intermediate gear according to section Changing the intermediate gearincluding sealing on page 85.4. Lubricate the drive gear with grease (30 g).5. Install the motor of axis 4 as described in section Changing the motor on page 84.6. Replace the cover <25> using screws <26>. Lock using a drop of Loctite 242 or243.
