ABB IRB 140 Product Manual page 181

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3HAC027400-001 Revision: K
4.7.5 Replacement of motor and timing belt, axes 5 or 6
Action
Reconnect all cables to/from motors 4-6.
Refit the cable guide with its two attachment
screws.
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 attach-
ment screws respectively.
Clean Room robots: seal and paint the joints
that have been opened. See
on Clean Room robots on page 100
Note
After all repair work, wipe the robot free from
particles with spirit on a lint free cloth.
Recalibrate the robot.
© Copyright 2004-2013 ABB. All rights reserved.
Note
Connectors
• R3.MP4
• R3.MP5
• R3.MP6
• R3.FB4
• R3.FB5
• R3.FB6
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 176!
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 176!
Art. no. specified in section
equipment on page 177
Use a plastic mallet or similar.
Shown in the figure in section
of motor and timing belt, axes 5 or 6 on
page 176!
Replacing parts
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is in-
cluded in section
tion on page
4 Repair
Continued
Location
Location
Required
Location
Calibration informa-
195.
181