ABB IRB 140 Product Manual page 141

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Product manual - IRB 140
3HAC027400-001 Revision: V
Action
Secure the base to the foundation.
Refit the complete lower arm.
Refit the complete upper arm.
Refit motors 1 and 2.
Refit the serial measurement unit.
Refit the cable harness.
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 118
Note
After all repair work, wipe the robot free from
particles with spirit on a lint free cloth.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section First test run may cause
injury or damage on page
© Copyright 2004-2018 ABB. All rights reserved.
Note
Attachment bolt and tightening torque
are specified in section
screws on page 62
Detailed in section
complete lower arm on page
Detailed in section
complete upper arm on page
Detailed in sections
motor, axis 1 on page 177
ment of motor, axis 2 on page 181
spectively.
Detailed in section
serial measurement unit and the bat-
tery pack on page
Detailed in section
cable harness on page
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration
tools.
General calibration information is in-
cluded in section
tion on page
26.
4 Repair
4.3.4 Replacement of base
Continued
Attachment
Replacement of
134.
Replacement of
128.
Replacement of
and Replace-
Replacing the
167.
Replacement of
120.
Calibration informa-
215.
re-
141