ABB IRB 140 type C Product Manual page 96

4 Repair
4.2.4. Replacement of base
Continued
Refitting, base
The procedure below details how to refit the base to the robot.
94
Action
10. Secure the weight of the base and remove the
gearbox/base attachment screws and washer.
11. Separate the base from the gearbox unit.
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Place the robot with the side of the lower arm
downwards on a workbench.
3. Clean the mating surfaces between the base
and the gearbox unit with isopropanol.
4. Lubricate the mating surface on the base with
Loctite 574.
5. Lift the base to mounting position.
6. Secure the base to the gearbox unit with the
gearbox/base attachment screws and washer.
7. Refit the bottom plate and secure it with its
attachment screws.
8. Turn the robot to stand upright.
9. Secure the base to the foundation.
10. Refit the complete lower arm.
11. Refit the complete upper arm.
12. Refit motors 1 and 2.
13. Refit the serial measurement unit.
14. Refit the cable harness.
Note
Shown in the figure Location of base
on page 92.
Note
Shown in the figure Location of base
on page 92.
Tightening torque: 35 Nm ± 3Nm
Shown in the figure Location of base
on page 92.
Attachment bolt and tightening torque
are specified in section Attachment
screws on page 46
Detailed in section Replacement of
complete lower arm on page
Detailed in section Replacement of
complete upper arm on page
Detailed in sections Replacement of
motor, axis 1 on page 129
Replacement of motor, axis 2 on page
133 respectively.
Detailed in section Replacement of
serial measurement unit and battery
pack on page 120.
Detailed in section Replacement of
cable harness on page 74.
Continues on next page
3HAC027400-001 Revision: C
88.
82.
and