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1 1. Insert 31 of the 33 attachment screws, upper
3HAC023082-001 Revision: E
Action
arm into the attachment holes in the lower arm.
Do not remove the guide pins until the
attachment screws are tightened as detailed
below.
12. Secure the lower arm to gearbox axis 3, with
the attachment screws.
13. Remove the guide pins and fit the two
remaining attachment screws. Tighten them as
detailed above!
14. Disconnect the brake release voltage and
remove the rotation tool from the motor.
15. Remove the lifting devices.
16. Refit any cabling removed during the removal
process.
17. Reconnect all connectors inside motors, axis 3
and 4. Refit the motor covers.
18. Reconnect connector R2.M5/6 gently at the
cable harness division point, with 2 screws, M6.
Be careful not to bend the attachment plate
when fastening the screws!
19. Perform a leakdown test.
20. Refill the gearbox with oil.
21. Recalibrate the robot.
22.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
4.4.4. Replacement of upper arm
Note/Illustration
Shown in the figure
arm on page
Removing the plastic mechanical stops
may be required before fitting the upper
arm.
If guide pins are removed before the
screws are tightened, the sealing can
be involuntarily moved into wrong
position.
33 pcs: M12 x 50; 12.9 quality
UNBRAKO, tightening torque: 120 Nm.
Reused screws may be used, providing
they are lubricated as detailed in
section
before fitting.
Detailed in section
down test on page
Detailed in section
gearbox, axis 3 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
38.
4 Repair
Continued
Location of upper
286!
Screw joints on page 432
Performing a leak-
224.
Oil change,
188.
Calibration
409.
291
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