4 Repair
4.7.1. Replacement of gearbox, axes 1-2
3HAC023637-001 Revision: B172
11. Secure the base to the foundation. Attachment bolts and the tightening
torque are specified in section
Attachment bolts, specification on page
49.
12. Refit the complete arm system. Detailed in section Refitting, complete
arm system on page 115.
13. Refit the motors, axes 1 and 2. Detailed in sections:
• Refitting, motor axis 1 on page 148
• Refitting, motor axis 2 on page
152.
14. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 100.
15. Fill the two gearboxes with oil. Type of oil and amount is specified in
section Oil in gearboxes on page 91.
16. Recalibrate the robot. Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration information
on page 175.
17.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section DANGER - First
test run may cause injury or damage! on
page 32.
Action Note
Continued
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