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4.4.5 Dismantling the complete upper arm
See foldout 2 in the list of spare parts.
To dismantle
Attach a crane to the upper arm.
1. Unscrew the upper bracket of the tie rod as specified in section Changing the tie
2. Loosen the connectors of the motors of axes 4, 5 and 6.
3. Disconnect the connection box from the motors.
4. Detach the balancing springs as described in section Dismantling the balancing
5. Undo the KM nuts <64>.
6. Remove washers <63> and shims <61-62> on the same side as axis 3.
7. Attach the withdrawing tool 3HAB 1259-1 and pull the axes off.
To assemble
1. Raise the upper arm into assembly position.
2. Install shaft spindles <59> (both sides), use two temporary screws M10x90.
3. Insert bearings <60> (both sides) using tool 3HAB 1200-1 and screws <65>.
4. Detach the tool and tighten the screws once more, only to prevent rotation of the
N.B! Assemble the same side as axis 2 first.
5. Mount two washers <63> and calibration washer <50>.
6. Tighten using the KM nut <64>.
7. Attach the measuring instrument 3HAB 1205-1 to the shaft spindle on axis 3.
N.B! If measuring instrument 3HAB 1205-1 is not available, you can use a micrometer
thickness gauge.
8. Hold the tool against the shoulder of the shaft spindle and measure the
3HAC021111-001 Revision: B
rod on page 80.
springs on page 76 (not valid for IRB 1400H).
axis when the KM nut is tightened.
dimension "A". See Figure .
(If you are not using the measuring instrument, tighten using the KM nut and,
before measuring with the micrometer thickness gauge, then undo it again.)
4.4.5 Dismantling the complete upper arm
4 Repair
81
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