4 Repair
4.5.1. Replacement of lower arm
3HAC022032-001 Revision: E162
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, lower arm
The procedure below deatails how to refit the lower arm to the robot.
4. Remove the complete upper arm. Detailed in section Removal of
complete upper arm.
5. Attach a crane to the lower arm and unload
the weight.
6. Remove the balancing device. Detailed in section Replacement of
balancing device on page 172.
7. Remove the parallel arm. Detailed in section Replacement of
parallel arm / Replacement of bearing
on page 168.
8. Remove the attachment screws and friction
washers, lower arm.
Shown in the figure Location of lower
arm on page 160.
9. Remove the lower arm from the manipula-
tor.
Action Info/Illustration
Action Info/Illustration
1.
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2.
The lower arm weighs 68 kg! All lifting equipment
used must be sized accordingly!
3. Move the damper and the calibration plate from the
old to the new lower arm.
Part no. is specified in
Required equipment on
page 161
4. Check and grease both V-rings in the frame. Replace
if damaged.
Part no. is specified in
Required equipment on
page 161
5. Lift the lower arm and lower it into mounting position.
Make sure both V-rings stay seated properly!
6. Refit the lower arm to the gearbox axis 2 with
attachment screws and friction washers, lower arm.
10 pcs. M16x55. Tightening
torque: 260 Nm.
Shown in the figure Location
of lower arm on page 160
7. Grease the bearing seating of the parallel arm in the
lower arm, to prevent clicking during operation.
8. Refit the parallel arm. Detailed in section Refitting,
parallel arm/bearing on page
170
Continued
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