ABB IRB 140 Product Manual page 188

4 Repair
4.8.1 Replacement of gearbox, axes 1-2 and damper, axis 1
Continued
Removal, gearbox unit axes 1-2
The procedure below details how to remove the complete gearbox unit, axes 1-2.
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188
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the
robot working area.
CAUTION
Always cut the paint with a knife
and grind the paint edge when
disassembling parts of a Clean
Room robot! See Replacing parts
on Clean Room robots on page 100
Remove the oil plug and drain all
oil from gearbox axis 1 using a
drain pump.
Remove the oil plug and drain all
oil from gearbox axis 2 using a
drain pump.
Remove the motor, axis 2.
Remove the motor, axis 1.
Remove the cable harness.
Remove the serial measurement
board.
Remove the upper arm.
Remove the lower arm.
Unfasten the base from the install-
ation site by removing the attach-
ment bolts from the foundation.
CAUTION
The gearbox unit weighs 30 kg.
All lifting accessories used must
be sized accordingly!
Fit the lifting slings to the
base/gearbox unit and place it with
the lower arm side downwards, on
top of a suitable workbench.
© Copyright 2004-2013 ABB. All rights reserved.
Note
Detailed in section Replacement of motor, axis 2
on page 162.
Detailed in section Replacement of motor, axis 1
on page 158.
Detailed in section Replacement of cable harness
on page 102.
Detailed in section Replacing the serial measure-
ment unit and the battery pack on page
Detailed in section Replacement of complete upper
arm on page 110.
Detailed in section Replacement of complete lower
arm on page 116.
3HAC027400-001 Revision: K
148.