ABB IRB 140 type C Product Manual page 159

Removal, gearbox unit axes 1-2
The procedure below details how to remove the complete gearbox unit, axes 1-2.
3HAC027400-001 Revision: C
4.7.1. Replacement of gearbox, axes 1-2 and damper, axis 1
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Remove the motor, axis 1.
3. Remove the motor, axis 2.
4. Remove the cable harness.
5. Remove the serial measurement board.
6. Remove the upper arm.
7. Remove the lower arm.
8. Drain the oil from gearbox, axis 1.
9. Unfasten the base from the installation site by
removing the attachment bolts from the
foundation.
10.
CAUTION!
The gearbox unit weighs 39 kg! All lifting
equipment used must be sized accordingly!
11. Fit the lifting slings to the base/gearbox unit and
place it with the lower arm side downwards, on top
of a suitable workbench.
12. Remove the bottom plate by unscrewing its 26
attachment screws.
13. Secure the weight of the base with lifting slings.
14. Remove the gearbox/base attachment screws
and washer.
15. Separate the base from the gearbox unit.
4 Repair
Continued
Note
Detailed in section Replacement of
motor, axis 1 on page 129.
Detailed in section Replacement of
motor, axis 2 on page 133.
Detailed in section Replacement of
cable harness on page 74.
Detailed in section Replacement of
serial measurement unit and
battery pack on page
120Replacement of serial
measurement unit and battery pack
on page 120.
Detailed in section Replacement of
complete upper arm on page
Detailed in section Replacement of
complete lower arm on page
Shown in the figure Illustration,
base on page 156.
Shown in the figure Illustration,
base on page 156.
Continues on next page
82.
88.
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