ABB Robotics IRB 1520 Product Manual page 190

4 Repair
4.4.1 Replacing the complete upper arm, IRB 1520ID
Continued
12
13
14
15
190
Action
Refit the armhouse cover.
Tightening torque: 4 Nm.
Refill the axis 3 gearbox with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run.
© Copyright 2012-2020 ABB. All rights reserved.
Note
xx1100000349
See Changing the oil, axis-3 gearbox
on page 117.
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration
tools.
General calibration information is in-
cluded in section Calibration informa-
tion on page 273.
Product manual - IRB 1520
3HAC043435-001 Revision: L