4 Repair
4.5.3. Replacement of parallel arm / Replacement of bearing
171 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
5. Refit the washer and the 10 attachment
screws that hold the parallel arm to the
gearbox unit.
10 pcs. M16x80, 12.9 quality UNBRAKO.
Tightening torque: 260.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw Joints in the Product manual,
reference information, before fitting.
6. Move the upper arm to a horizontal
position with a crane (if not already
positioned horizontal) and refit the tie
rod.
Detailed in section Refitting, tie rod on
page 166
7. Reposition the cabling and tighten the
cable attachment screws.
xx0300000127
8. 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 235.
9.
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 33.
Action Info/Illustration
Continued
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