ABB Robotics IRB 1520 Product Manual page 194

4 Repair
4.4.2 Replacing the complete lower arm
Continued
4
5
6
7
8
9
194
Action
Secure the lower arm to gearbox axis 2 with
its attachment screws and washers.
Refit the cable harness on the lower arm.
Refit the upper arm.
Refit the lower end of the cable harness in
the armhouse and reconnect the connectors.
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
xx1100000353
Hex socket head cap screw M8x40 quality
12.9 Gleitmo (18 pcs)
Tightening torque: 34 Nm.
See Replacing the cable harness - lower
end on page 142.
See section Replacing the complete upper
arm, IRB 1520ID on page
See Replacing the cable harness - lower
end on page 142.
Pendulum Calibration is described in
Operating manual - Calibration Pendulum,
enclosed with the calibration tools.
General calibration information is included
in section Calibration information on
page 273.
Product manual - IRB 1520
3HAC043435-001 Revision: L
183.