ABB IRB 1410 Product Manual page 109

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Product manual - IRB 1410
3HAC026320-001 Revision: N
Action
Mount two washers and calibration washer.
Tighten using the KM nut.
Attach the measuring instrument 3HAB 1205-1 to
the shaft spindle on axis 3.
Note
If measuring instrument is not available, you can
use a micrometer thickness gauge.
Hold the tool against the shoulder of the shaft
spindle and measure the dimension "A". See illus-
tration.
(If you are not using the measuring instrument,
tighten using the KM nut and, before measuring
with the micrometer thickness gauge, then undo
it again.)
Make a note of the dimension "A". Fit one washer
and shims , and using the micrometer, measure
the thickness so that the total thickness is 0.10 -
0.20 mm more than the noted dimension "A".
This will result in a preloading of the bearing of
0.10 - 0.20 mm.
Fit the shims and washer and tighten the KM nut.
Replace the upper attachment of the tie rod as
specified in.
Replace the balancing springs.
Reconnect the connection boxes and the cabling.
Calibrate the robot.
Undo the KM-nut on the axis 2 side, just to be able
to adjust the calibration washer.
© Copyright 2006-2018 ABB. All rights reserved.
4.5.5 Replacing the complete upper arm
Note
See foldout/pos. <2/63> and <2/50>
See foldout/pos. <2/64>
xx1300002642
See foldout/pos. <2/63>, <2/61>
and <2/62>
See foldout/pos. <2/64>
Described in section:
tie rod on page 107
Described in section:
balancing springs on page 103
Described in section:
See foldout/pos. <2/50>
Continues on next page
4 Repair
Continued
Replacing the
Replacing the
Calibration
109