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4 Repair
4.3.3. Replacement of complete arm system
Continued
236
Action
5. Fit two guide pins, M12 x 130, in the frame
attachment holes as shown in the figure to
the right.
Fit one guide pin next to the guiding hole (for
the spring pin in the gearbox) and the other
guide pin straight across the frame.
6. Look through the empty mounting hole of
motor axis 1, to assist in aligning the
assembly during refitting of the arm system.
The guiding pin in the gearbox must be fitted
to the guiding hole of the frame (B).
Lower the arm system with guidance from
the guide pins previously fitted to the frame.
7. Refit 22 of the 24 attachment screws before
the arm system is completely lowered.
8. Remove the guide pins and secure the arm
system to the base with the 24 base
attachment screws and washers.
9. Refit the block for calibration at the bottom
of the frame.
10. Refit the motor, axis 1.
11. Perform a leak-down test.
12. Refill the gearbox axis 1 with lubricating oil. Detailed in section
13. Recalibrate the robot.
Note
xx0300000070
The figure above shows a view from
below of the frame.
A. Attachment holes for the guide
pins, M12.
B. Guiding hole for the spring pin
located in the gearbox, axis 1.
This is a complex task to be performed
with outmost care in order to avoid injury
or damage!
Shown in the figure
Location of complete
arm system on page
233.
24 pcs, M12 x 110; 12.9 quality
UNBRAKO, tightening torque: 110 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 390
before fitting.
Shown in the figure
Location of complete
arm system on page
233.
Detailed in section
Refitting, motor axis 1
on page
299.
Detailed in section
Performing a leak-
down test on page
216.
Filling, oil, gearbox
axis 1 on page
184.
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
Calibration information
on page
371.
Continues on next page
3HAC022033-001 Revision: E
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