ABB IRB 140 type C Product Manual page 161

3HAC027400-001 Revision: C
4.7.1. Replacement of gearbox, axes 1-2 and damper, axis 1
Action
9. Secure the base to the foundation
10. Refit the lower arm.
11. Refit the upper arm.
12. Refit the serial measurement board.
13. Refit the cable harness.
14. Refit the motors, axes 1 and 2.
15. Perform a leak-down test.
16. Fill the two gearboxes with oil.
17. Recalibrate the robot.
18.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
test run may cause injury or damage! on
page 32.
Note
Attachment bolts and the tightening
torque are specified in section
Attachment screws on page 46
Detailed in section
lower arm.
Detailed in section
upper arm.
Detailed in section
measurement unit and battery pack on
page 120.
Detailed in section
harness.
Detailed in sections:
•
•
Detailed in section
down test on page
Type of oil and amount is specified in
section
gearboxes on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
on page
DANGER - First
4 Repair
Continued
Refitting of complete
Refitting of complete
Replacement of serial
Refitting of cable
Refitting of motor 1
Refitting, motor axis 2 on page
135.
Performing a leak-
184.
Type and amount of oil in
161.
Calibration information
163.
159