ABB IRB 140 Product Manual page 112

4 Repair
4.3.2 Replacement of complete upper arm
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Action
Run the manipulator arm to a horizontal position.
Remove all brackets securing any exterior cabling
to the upper arm by unscrewing their attachment
screws respectively.
Remove the rear cover armhousing by unscrewing
its four attachment screws.
DO NOT under any circumstance unscrew the six
screws on top of the lower arm! Doing so will cause
the manipulator to require a complete rebuild!
Disconnect all cables to/from motors 4-6.
Disconnect any connector from the CS-connector.
Use a special socket to remove the CS-connector
from the housing and pull it into the upper arm as-
sembly.
Remove the pressurized air connector from the
housing and pull it into the upper arm assembly.
Remove the VK-cover from the upper arm/lower
arm joint.
Remove the cable guide by unscrewing its two at-
tachment screws.
Gently pull all cables and hoses out.
© Copyright 2004-2013 ABB. All rights reserved.
Note
Shown in the figure Location of
upper arm on page 110!
xx0300000101
• A: DO NOT touch these
screws! (NOTE! Only two
screws shown!)
Connectors
• R3.MP4
• R3.MP5
• R3.MP6
• R3.FB4
• R3.FB5
• R3.FB6
Shown in the figure Location of
upper arm on page 110!
Shown in the figure Location of
upper arm on page 110!
Art. no. specified in section
quired equipment on page
Shown in the figure Location of
upper arm on page 110!
Art. no. specified in section
quired equipment on page
Shown in the figure Location of
upper arm on page 110!
Detailed in section Removing the
VK cover on page 113.
Shown in the figure Location of
upper arm on page 110!
3HAC027400-001 Revision: K
Re-
111!
Re-
111!