Replacing The Lower Arm - ABB IRB 1410 Product Manual

4.4.3 Replacing the lower arm

General
See foldouts 1 in chapter, Foldout.
Removing
1
2
3
4
5
6
7
Refitting
1
2
3
4
5
6
7
8
Product manual - IRB 1410
3HAC026320-001 Revision: N
Action
Remove the balancing springs.
Remove the cabling down to axis 1.
Remove the upper arm.
Attach a hoist with lifting slings to the lower arm.
Remove the parallel arm.
Loosen screws.
Remove the lower arm.
Action
Transfer the damping element and calibration
marking to the new lower arm.
Lift the lower arm into position.
Fix the lower arm to gear 2 using screws <1/13>
and tighten them to a torque of 68 Nm ±10%.
WARNING
To prevent clicking during operation of the robot,
grease the bearing seating of the parallel arm in
the lower arm.
Refit the parallel arm.
Refit the upper arm.
Refit the balancing springs.
Refit the cabling.
Calibrate the robot.
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4 Repair
4.4.3 Replacing the lower arm
Note
Described in section: Replacing the
balancing springs on page 103
Described in section: Replacing the
axis-1, -2, and -3 cabling on
page 118
Described in section: Replacing the
complete upper arm on page 108
Described in section: Replacing the
parallel arm on page 106
See foldout/pos. <1/13>
Note
Described in section: Replacing the
parallel arm on page 106
Described in section: Replacing the
complete upper arm on page 108
Described in section: Replacing the
balancing springs on page 103
Described in section: Replacing the
axis-1, -2, and -3 cabling on
page 118
Described in section: Calibration
information on page 127
101