Dismantling The Parallel Arm - ABB IRB 1400 Product Manual

4.4.3 Dismantling the parallel arm

See foldout 1 (6 for IRB 1400H) in the list of spare parts.
To dismantle 1. Loosen the upper bracket of the tie rod as described in this chapter, section
2. Unscrew screws <13> which fix the parallel arm to gear 3.
3. Remove the bearings from the parallel arm.
To assemble 1. Fit the bearings on the parallel arm.
2. Replace the parallel arm using screws <13> and tighten to a torque of
3. Attach the upper bracket of the tie rod according to section Changing the tie rod
4. Calibrate the robot as specified in section Calibration information on page 131.
Tightening torque
Screwed joint of parallel arm/gear 3, item <13>:68 Nm ±10%
3HAC021111-001 Revision: B
Changing the tie rod on page 80.
68 Nm ±10%.
on page 80.
4 Repair
4.4.3 Dismantling the parallel arm
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