ABB IRB 140 type C Product Manual page 88

4 Repair
4.2.2. Replacement of complete upper arm
Continued
Refitting
The procedure below details how to refit the complete upper arm.
86
Action
1. Remove the lower arm cover by unscrewing its
attachment screws.
2. Tap the VK coverwith a long blunt edged bar
through the hole in the lower arm to press it out.
3. If the VK cover is damaged, it must be replaced
on refitting.
Action
1. Check the sealing ring to see whether it is
damaged.
Replace if it is damaged!
2. Lift the upper arm into position.
3. Secure the upper arm with its six attachment
screws.
4. Gently pull all cables and hoses through the
hole in the upper arm.
5. Reconnect all connectors to motors 4-6.
6. Refit the cable guide with its two attachment
screws.
7. Pull the pressurized air connector through the
housing and secure it into fitting in the upper
arm assembly.
8. Pull the CS-connector through the housing
and secure it into the fitting in the upper arm
assembly.
Use a special socketto secure it.
9. Reconnect any connector previously
connected externally to the CS connector.
10. Fit a newVK-cover to the upper arm/lower arm
joint.
Gently knock it into position.
Note
Make sure to press the
circumference of the VK cover
evenly to avoid damaging it.
Shown in the figure in section
Location of upper arm on page
Specified in section Refitting of
complete upper arm.
Note
Shown in the figure Location of
upper arm on page 82!
Art. no. specified in section
Required equipment on page
Shown in the figure Location of
upper arm on page 82!
Tightening torque: 35 Nm ± 3 Nm
Connectors
• R3.MP4
• R3.MP5
• R3.MP6
• R3.FB4
• R3.FB5
• R3.FB6
Shown in the figure Location of
upper arm on page 82!
Shown in the figure 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
Shown in the figure Location of
upper arm on page 82!
Art. no. specified in section
Required equipment on page
Use a plastic mallet or similar.
Continues on next page
3HAC027400-001 Revision: C
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