ABB IRB 140 Product Manual page 130

4 Repair
4.3.2 Replacement of complete upper arm
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130
Action
Remove the rear cover armhousing by unscrewing
its four attachment screws.
DO NOT under any circumstance unscrew the six
screws on top of the lower arm! Doing so will cause
the manipulator to require a complete rebuild!
Disconnect all cables to/from motors 4-6.
Disconnect any connector from the CS-connector.
Use a special socket to remove the CS-connector
from the housing and pull it into the upper arm as-
sembly.
Remove the pressurized air connector from the
housing and pull it into the upper arm assembly.
Remove the VK-cover from the upper arm/lower
arm joint.
Remove the cable guide by unscrewing its two at-
tachment screws.
Gently pull all cables and hoses out.
Remove the upper arm by unscrewing its six attach-
ment screws.
Lift the upper arm and place it on a secure surface.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Shown in the figure Location of
upper arm on page 128!
xx0300000101
• A: DO NOT touch these
screws! (NOTE! Only two
screws shown!)
Connectors
• R3.MP4
• R3.MP5
• R3.MP6
• R3.FB4
• R3.FB5
• R3.FB6
Shown in the figure Location of
upper arm on page 128!
Shown in the figure Location of
upper arm on page 128!
Art. no. specified in section
quired equipment on page
Shown in the figure Location of
upper arm on page 128!
Art. no. specified in section
quired equipment on page
Shown in the figure Location of
upper arm on page 128!
Detailed in section Removing the
VK cover on page 131.
Shown in the figure Location of
upper arm on page 128!
Shown in the figure Location of
upper arm on page 128!
Product manual - IRB 140
3HAC027400-001 Revision: V
Re-
129!
Re-
129!