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10. Refit the motor axis 1.
11. Refit the cabling in the base.
12. Perform a leak-down test of the gearbox axis
13. Refill the gearbox axis 1 with lubricating oil. Detailed in section
14. Recalibrate the robot.
15.
3HAC028197-001 Revision: A
Action
8. Remove the guide pins and secure the arm
system to the base with its 24attachment
screws and washers.
9. Refit the block for calibrationandcalibration
plate axis 1 at the bottom of the frame.
1.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
test run may cause injury or damage! on
page
33.
4.3.5. Replacement of complete arm system
Note
Shown in the figure
system on page
M12 x 70, tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 276
xx060002734
•
•
Detailed in section
axis 1 on page
Detailed in section
harness, lower end (axes 1-3) on page
147.
Detailed in section
down test on page
axis 1 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
tion.
DANGER - First
4 Repair
Continued
Location of arm
170.
before fitting.
A: Block for calibration
B: Calibration plate axis 1
Replacement of motor,
222.
Replacement of cable
Performing a leak-
142.
Oil change, gearbox
120.
Calibration informa-
179
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