Removal, upper arm
The procedure below details how to remove the complete upper arm.
Note/IllustrationAction
DANGER
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
1
Detailed in section Replacement
of tie rod on page 149.
Remove the tie rod.2
Detailed in section Replacement
of motors, axes 4-6, IRB 2400L on
page 183.
Loosen the connectors of the motors of axes 4, 5
and 6.
3
Disconnect the connection box from the motors.4
Shown in the figure Upper arm at-
tachment on page 142.
Remove the covers (Left + Right).5
Shown in the figure Upper arm at-
tachment on page 142.
Undo the KM nuts (Left + Right).6
Shown in the figure Upper arm at-
tachment on page 142.
Remove the attachment screws (Left + Right).7
xx0200000435
Fit the lifting device to the upper arm, and lift
enough for the strap to stretch without lifting the
robot.
8
Lifting without lifting tool!
Art. no. is specified in Required
equipment on page 142.
Pull out the shaft, using the dismounting tool for
shaft ends. Mark the shafts (left, right).
9
Refitting, upper arm
The procedure below details how to refit the complete upper arm.
NoteAction
DANGER
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
1
Fit sealings in the upper arm.2
Art. no. is specified in Required
equipment on page 142.
Fit the inner ring of the bearings on shafts, using
the mounting tool for bearings.
3
Raise the upper arm into the mounting position.4
Fit shaft spindles (both sides).5
Continues on next page
Product manual - IRB 2400 143
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.3 Replacement of complete upper arm
Continued
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