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4 Repair
4.4.3 Replacement of complete upper arm
Continued
10
11
12
13
14
15
16
17
18
270
Action
Insert the attachment screws.
Do not remove the guide pins until the attachment
screws are tightened as detailed below!
Secure the lower arm to gearbox axis 3 with the
upper arm attachment screws .
Remove the guide pins and fit the two remaining
attachment screws. Tighten them as detailed above!
Refit any cabling removed during the removal pro-
cess.
Reconnect all connectors inside motors 3 and 4.
Reconnect connector R2.M5/6 gently at the rear
cable division point.
Be careful not to bend the attachment plate when
fastening the screws!
Refill the gearbox with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further de-
tailed in the section
DANGER - First test run may
cause injury or damage! on page
© Copyright 2007-2013 ABB. All rights reserved.
Note/Illustration
In some cases, removing the
plastic mechanical stops may be
required before fitting the upper
arm.
If guide pins are removed before
the screws are tightened, the
sealing can be involuntarily
moved into wrong position.
30 pcs: M16 x 50. Tightening
torque: 300 Nm.
Shown in the figure
upper arm on page
Detailed in section
page
204.
Calibration is detailed in a separ-
ate calibration manual enclosed
with the calibration tools.
General calibration information is
included in section
formation on page
49.
3HAC022033-001 Revision: M
Location of
266.
Filling, oil on
Calibration in-
387.
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