ABB IRB 140 Product Manual page 132

4 Repair
4.3.2 Replacement of complete upper arm
Continued
Refitting
The procedure below details how to refit the complete upper arm.
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132
Action
Clean the joints that have been opened. See
Cut the paint or surface on the robot before
replacing parts on page 118
Check the sealing ring to see whether it is
damaged.
Replace if it is damaged!
Lift the upper arm into position.
Secure the upper arm with its six attachment
screws.
Gently pull all cables and hoses through the
hole in the upper arm.
Reconnect all connectors to motors 4-6.
Refit the cable guide with its two attachment
screws.
Pull the pressurized air connector through the
housing and secure it into fitting in the upper
arm assembly.
Pull the CS-connector through the housing
and secure it into the fitting in the upper arm
assembly.
Use a special socketto secure it.
Reconnect any connector previously connec-
ted externally to the CS connector.
Fit a newVK-cover to the upper arm/lower arm
joint.
Gently knock it into position.
Refit the rear cover armhousing with its four
attachment screws.
Refit any brackets securing any exterior
cabling to the upper arm with their attachment
screws respectively.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Shown in the figure Location of upper
arm on page 128!
Art. no. specified in section
equipment on page 129!
Shown in the figure Location of upper
arm on page 128!
Tightening torque: 35 Nm ± 3 Nm
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!
Shown in the figure Location of upper
arm on page 128!
Art. no. specified in section
equipment on page 129!
Shown in the figure Location of upper
arm on page 128!
Art. no. specified in section
equipment on page 129!
Use a plastic mallet or similar.
Shown in the figure Location of upper
arm on page 128!
Product manual - IRB 140
3HAC027400-001 Revision: V
Required
Required
Required