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4 Repair
4.4.4. Replacement of complete lower arm
Continued
264
Action
16. Set the indicator on the press tool to zero.
17. Press in the shaft with the hydraulic cylinder by
setting the pressure of the hydraulic pump to
approximately 35-55 MPa and the pressure of
the glycerin pump to 55 MPa.
18. Increase the pressure of the both pumps
alternately until the correct value is reached with
the indicator on the press tool.
19. Remove the press tool, axis 2 shaft.
20. Refit the thrust washer to the shaft.
21. Apply grease to the location of the shaft where
the bearing is to be mounted.
22. Press the bearing in with the press tool, axis 2
bearing.
23. Refit the protection washer and the retaining
ring.
24. Refit the protection plug.
25. Refit and restore the balancing device.
26. Refit the upper arm.
27. Perform a leak-down test.
28. Refill the axis 2 gearbox with oil.
29. Refit and reconnect all cables inside the lower
arm.
Refit removed cable attachments.
30. Recalibrate the robot.
Note
Correct value: 2.45 mm ± 0.15 mm
NOTE!
Do not exceed the limit of maximum
pressure classified for the pumps!
Release the pressure from the
glycerin pump first, then from the
hydraulic cylinder (approximately 1/2
minute after), in order to avoid
movement of the shaft.
Shown in the figure
Attachment
points, lower arm on page
Always use a new bearing when reas-
sembling!
Art. no. is specified in
Required
equipment on page
258.
Shown in the figure
Attachment
points, lower arm on page
Shown in the figure
Attachment
points, lower arm on page
Detailed in section
Refitting,
balancing device on page
Detailed in section
Refitting, upper
arm on page
254.
Detailed in section
Performing a leak-
down test on page
216.
Detailed in section
Filling, oil on page
187.
Detailed in section
Refitting, cable
harness, axes 1-4 on page
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
257.
257.
257.
281.
225.
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