4 Repair
4.3.3 Dismantling the lower arm
74 3HAC021111-001 Revision: B
4.3.3 Dismantling the lower arm
See foldouts 1 (6 for IRB 1400H) in the list of spare parts.
To dismantle 1. Remove the balancing springs as described in section Dismantling the balancing
springs on page 76 (not valid for IRB 1400H).
2. Remove the cabling down to axis 1 according to section Cabling and serial mea-
suring board on page 90.
3. Dismantle the upper arm as specified in section Dismantling the complete upper
arm on page 81.
4. Attach the crane to the lower arm.
5. Remove the parallel arm in accordance with section Dismantling the parallel arm
on page 79.
6. Loosen screws <1/13>.
7. Remove the lower arm.
To assemble 1. Transfer the damping element and calibration marking to the new lower arm.
2. Lift the lower arm into position.
3. Fix the lower arm to gear 2 using screws <1/13> and tighten them to a torque of
68 Nm ±10%.
To prevent clicking during operation of the robot, grease the bearing seating of the parallel
arm in the lower arm.
4. Replace the parallel arm as described in section Dismantling the parallel arm on
page 79.
5. Replace the upper arm as specified in section Dismantling the complete upper
arm on page 81.
6. Replace the balancing springs in accordance with section Dismantling the balanc-
ing springs on page 76 (not valid for IRB 1400H).
7. Replace the cabling as described in section Cabling and serial measuring board
on page 90.
8. Calibrate the robot according to section Calibration information on page 131.
Tightening torque Screwed joint of lower arm/gear 2, item <13>:68 Nm ±10%
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