4 Repair
4.4.3. Replacement of complete upper arm
1173HAC026048-001 Revision: A
© Copyright 2006-2008 ABB. All rights reserved.
Removal, upper arm
The procedure below details how to remove the upper arm from the robot.
Lifting straps - For lifting the upper arm.
Guide pins 3HAC024097-
006
3 pcs required. Length: 62
mm. Diameter: 6 mm. Thread:
M6x12. Used for guiding the
shaft end of the upper arm into
place.
Toolkit for service 3HAC023963-
026
If additional aid is required for
pulling out the shaft from the
upper arm, a tool can be
assembled from the loose
parts in the kit.
The assembly is shown in the
figure Press tool, link on page
130.
Hydraulic pump, 80
Mpa
3HAC13086-1
Extended KM nut (KM7) 3HAC023963-
040
Length: 135 mm.
Standard toolkit - The contents are defined in
section Standard toolkit on
page 190, in part 2 of the
Product manual.
Calibration Pendulum
toolkit
3HAC15716-1 Complete kit that also includes
operating manual.
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
These procedures include
references to the tools
required.
Equipment Spare part no. Art. no. Note
Action Note/Illustration
1.
-
Danger!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Disconnect all the connectors at the tilthouse
(motor and customer connections) and
unfasten the cabling from the upper arm by
removing all brackets available.
Shown in the figure Location of cable
unit, axis 6 on page 96.
Continued
Continues on next page
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