ABB IRB 140 Product Manual page 211

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Product manual - IRB 140
3HAC027400-001 Revision: V
4.8.1 Replacement of gearbox, axes 1-2 and damper, axis 1
Action
Place the gearbox unit with the lower arm
side downwards on a suitable workbench.
Clean the mating surfaces of the base and
of the gearbox unit with isopropanol.
Fit a small amount of Loctite 574 on the
mating surface in the gearbox unit.
Fit the base to the gearbox unit and secure
it with the attachment screws and the
washer.
Refit the bottom plate and secure it with its
attachment screws.
Fit the lifting slings to the base/gearbox unit,
turn it right side up and move it to the install-
ation site.
Secure the base to the foundation
Refit the lower arm.
Refit the upper arm.
Refit the serial measurement board.
Refit the cable harness.
Refit the motors, axes 1 and 2.
Perform a leak-down test.
Fill the two gearboxes with oil.
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.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Shown in the figure Illustration, base on
page 208.
Shown in the figure Illustration, base on
page 208.
20 pcs, tightening torque: 35 Nm ± 3 Nm.
Shown in the figure Location of gearbox
unit, axes 1-2 on page 207.
Attachment bolts and the tightening
torque are specified in section
screws on page 62
Detailed in section Replacement of com-
plete lower arm on page 134.
Detailed in section Replacement of com-
plete upper arm on page 128.
Detailed in section Replacing the serial
measurement unit and the battery pack
on page 167.
Detailed in section Replacement of cable
harness on page 120.
Detailed in sections:
• Replacement of motor, axis 1 on
page 177
• Refitting, motor axis 2 on page
Detailed in section Performing a leak-
down test on page 241.
See, Technical reference manual - Lubric-
ation in gearboxes.
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
General calibration information is included
in section Calibration information on
page 215.
Continues on next page
4 Repair
Continued
Attachment
184.
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