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3HAC022033-001 Revision: M
Action
Fit two new friction washers onto the guide pins.
Push in the gearbox, axis 4, and the motor
flange.
If necessary, use screws in the attachment
holes to press in the motor flange.
Secure the motor flange to the upper arm
housing with 16 of the 18 washers and attach-
ment screws.
Secure with locking liquid.
Remove the guide pins and secure the remain-
ing two attachment screws as specified in pre-
vious step.
Refit the motor, axis 4.
Refit gear Z3 to the gearbox with its gear attach-
ment screws.
Replace the gasket, cover axis 4.
Refit the cover, axis 4 gearbox with its attach-
ment screws and secure with locking liquid.
Perform a leak-down test.
Refill the primary gearbox with oil.
Refill the secondary gearbox with oil.
Recalibrate the robot.
© Copyright 2007-2013 ABB. All rights reserved.
4.7.4 Replacement of gearbox, axis 4
Note
Spare part no. is specified in
equipment on page
373.
Note
Make sure the surface beneath the
friction washers is clean and dry!
Shown in the figure
Location of gear-
box on page
372.
Note
Make sure the motor flange is oriented
correctly by observing the oil plugs as
shown in the figure
Replacement of
gearbox, axis 4 on page
18 pcs: M10 x 40; tightening torque:
65 Nm.
Detailed in section
Refitting, motor
axis 4 on page
336.
Shown in the figure
Location of gear-
box on page
372.
9 pcs: M12 x 50; tightening torque:
115 Nm.
6 pcs: M16 x 60: tightening torque:
300 Nm.
Art. no. is specified in
equipment on page
373.
Tightening torque: 10 Nm.
Shown in the figure
Location of gear-
box on page
372.
Detailed in section
Performing a leak-
down test on page
236.
Further detailed in section
gearbox axis 4 on page
Further detailed in section
gearbox axis 4 on page
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is in-
cluded in section
Calibration informa-
tion on page
387.
Continues on next page
4 Repair
Continued
Required
372.
Required
Filling, oil,
207.
Filling, oil,
207.
375
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