ABB IRB 140 Product Manual page 114

4 Repair
4.3.2 Replacement of complete upper arm
Continued
3
Refitting
The procedure below details how to refit the complete upper arm.
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Continues on next page
114
Action
If the VK cover is damaged, it must be replaced
on refitting.
Action
Clean Room robots: clean the joints that have
been opened. See Replacing parts on Clean
Room robots on page 100
Check the sealing ring to see whether it is
damaged.
Replace if it is damaged!
Lift the upper arm into position.
Secure the upper arm with its six attachment
screws.
Gently pull all cables and hoses through the
hole in the upper arm.
Reconnect all connectors to motors 4-6.
Refit the cable guide with its two attachment
screws.
Pull the pressurized air connector through the
housing and secure it into fitting in the upper
arm assembly.
Pull the CS-connector through the housing
and secure it into the fitting in the upper arm
assembly.
Use a special socketto secure it.
Reconnect any connector previously connec-
ted externally to the CS connector.
Fit a newVK-cover to the upper arm/lower arm
joint.
Gently knock it into position.
Refit the rear cover armhousing with its four
attachment screws.
Refit any brackets securing any exterior
cabling to the upper arm with their attachment
screws respectively.
© Copyright 2004-2013 ABB. All rights reserved.
Note
Specified in section Replacement of
complete upper arm on page
Note
Shown in the figure Location of upper
arm on page 110!
Art. no. specified in section
equipment on page 111!
Shown in the figure Location of upper
arm on page 110!
Tightening torque: 35 Nm ± 3 Nm
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!
Shown in the figure Location of upper
arm on page 110!
Art. no. specified in section
equipment on page 111!
Shown in the figure Location of upper
arm on page 110!
Art. no. specified in section
equipment on page 111!
Use a plastic mallet or similar.
Shown in the figure Location of upper
arm on page 110!
3HAC027400-001 Revision: K
110.
Required
Required
Required