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4 Repair
4.4.8 Replacing the complete lower arm
Continued
13
14
15
16
17
18
19
20
21
22
23
24
258
Action
Secure the lower arm by fitting a lock screw.
CAUTION
Tighten by hand!
Refit the axes 2 and 3 gearboxes.
Refit the axes 2 and 3 motors.
Refit the complete upper arm.
Refit the cable harness.
Refit the parallel rod.
Refit the balancing device.
Refit the linkage.
Refit the balancing weight.
Remove the lock screw.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section
DANGER - First test run
may cause injury or damage! on page
© Copyright 2013 ABB. All rights reserved.
Note
Dimension is specified in
equipment on page
xx1000001101
See
Replacing the gearbox, axes 2-
3 on page
311.
See
Replacing motors, axes 2 and 3
on page
284.
See
Replacing the upper arm on
page
209.
See
See
Replacing the parallel rod on
page 244
See
Replacing the balancing device
on page
265.
See
Replacing linkage - upper link
arm on page 221
See
Replacing the linkage - lower link
arm on page 228
See
Replacement of linkage - link on
page 235
See
Replacing the balancing weight
on page
274.
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is in-
cluded in section
tion on page
329.
45.
3HAC039838-001 Revision: C
Required
251.
Calibration informa-
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