Removing the camshaft was discussed in the article - "How to disassemble the engine"
Some car enthusiasts pay little attention to the condition of the camshaft when repairing the engine.
The main attention is focused on the CPG and crankshaft.
Which has a detrimental effect on the further operation of the engine.
Particular attention should be paid to the camshaft and its bearings.
If the camshaft bushings are heavily worn, new bushings must be pressed in.
Install a new camshaft.
Inspection and defect detection of the camshaft shaft

After removal, wash all parts with gasoline, wipe and dry.
Inspect the camshaft.
If the journals, cams and oil pump drive gear have scoring, deep scratches, cavities, chips, cracks, replace the camshaft.
Inspect the pushrods. Replace bent pushrods.
If the pushrod tips show signs of wear, scoring, or cavities, replace the pushrods as well.
Please note that the pushrod length of the mod. 402 engine is 283 mm, while the mod. 4021 — 287 mm.
Measure the diameters of the camshaft journals, the nominal diameters of the journals are indicated in the table.
Inspect the tappets.
If traces of wear, cavities, scoring, etc. are visible on the working surfaces, replace the tappets.

If the teeth on the camshaft gear wheel are damaged or there are cracks, it need to be replaced.
Measure the axial clearance of the camshaft.
To do this, assemble the shaft with the toothed wheel, put the spacer ring and thrust flange on the front end of the camshaft, then press on the toothed wheel and tighten the toothed wheel fastening bolt with the washer.
Tighten the bolt to a torque of 55–60 N⋅m (5.5–6.0 kgf⋅m).
Use a feeler gauge to measure the clearance between the thrust flange of the camshaft and the toothed wheel hub; it should be within 0.1–0.2 mm.

Install the camshaft in the reverse order of removal.
Before installation, lubricate the camshaft journals and cams, tappets and tappet rods with engine oil.
After installation, adjust the valve clearances.