ABB IRB 140 type C Product Manual page 86

4 Repair
4.2.2. Replacement of complete upper arm
Continued
Removal, upper arm
The procedure below details how to remove the complete upper arm.
84
Action
1. Run the manipulator arm to a horizontal position.
2. Remove all brackets securing any exterior cabling
to the upper arm by unscrewing their attachment
screws respectively.
3. Remove the rear cover armhousing by unscrewing
its four attachment screws.
4. DO NOT under any circumstance unscrew the six
screws on top of the lower arm! Doing so will cause
the manipulator to require a complete rebuild!
5. Disconnect all cables to/from motors 4-6.
6. Disconnect any connector from the CS-connector. Shown in the figure
7. Use a special socket to remove the CS-connector
from the housing and pull it into the upper arm
assembly.
8. Remove the pressurized air connector from the
housing and pull it into the upper arm assembly.
Note
Shown in the figure Location of
upper arm on page 82!
xx0300000101
• A: DO NOT touch these
screws! (NOTE! Only
two screws shown!)
Connectors
• R3.MP4
• R3.MP5
• R3.MP6
• R3.FB4
• R3.FB5
• R3.FB6
Location of
upper arm on page 82!
Shown in the figure Location of
upper arm on page 82!
Art. no. specified in section
Required equipment on page
83!
Shown in the figure Location of
upper arm on page 82!
Art. no. specified in section
Required equipment on page
83!
Continues on next page
3HAC027400-001 Revision: C