Dismantling The Lower Arm - ABB IRB 1400 Product Manual

4 Repair

4.3.3 Dismantling the lower arm

4.3.3 Dismantling the lower arm
See foldouts 1 (6 for IRB 1400H) in the list of spare parts.
To dismantle 1. Remove the balancing springs as described in section Dismantling the balancing
2. Remove the cabling down to axis 1 according to section Cabling and serial mea-
3. Dismantle the upper arm as specified in section Dismantling the complete upper
4. Attach the crane to the lower arm.
5. Remove the parallel arm in accordance with section Dismantling the parallel arm
6. Loosen screws <1/13>.
7. Remove the lower arm.
To assemble 1. Transfer the damping element and calibration marking to the new lower arm.
2. Lift the lower arm into position.
3. Fix the lower arm to gear 2 using screws <1/13> and tighten them to a torque of
To prevent clicking during operation of the robot, grease the bearing seating of the parallel
arm in the lower arm.
4. Replace the parallel arm as described in section Dismantling the parallel arm on
5. Replace the upper arm as specified in section Dismantling the complete upper
6. Replace the balancing springs in accordance with section Dismantling the balanc-
7. Replace the cabling as described in section Cabling and serial measuring board
8. Calibrate the robot according to section Calibration information on page 131.
Tightening torque Screwed joint of lower arm/gear 2, item <13>:68 Nm ±10%
74
springs on page 76 (not valid for IRB 1400H).
suring board on page 90.
arm on page 81.
on page 79.
68 Nm ±10%.
page 79.
arm on page 81.
ing springs on page 76 (not valid for IRB 1400H).
on page 90.
3HAC021111-001 Revision: B