4 Repair
4.3.6. Replacement of complete arm system
2653HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
6. Look through the empty mounting hole of
motor 1 to assist in aligning the assembly
during refitting of the arm system.
The spring pin in the gearbox must be fitted
to the guiding hole of the frame (B).
Lower the arm system with guidance from
the guide pins previously fitted to the frame.
The refitting must be made completely level!
Make sure the lifting device is adjusted prior
to refitting of arm system.
This is a complex task to be performed
with utmost care in order to avoid injury or
damage!
xx0600003093
7. Refit 22 of the 24 attachment screws before
the arm system is completely lowered.
8. Remove the guide pins and secure the arm
system to the base with its 24attachment
screws and washers.
Shown in the figure Location of arm
system on page 261!
M12 x 70, tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 432 before fitting.
9. Refit the block for calibrationat the bottom of
the frame.
Shown in the figure Location of arm
system on page 261!
10. Refit the motor axis 1. Detailed in section Refitting, motor axis 1
on page 339.
Detailed in section Replacement of motor,
axis 1 on page 337.
11. Refit the cabling in the base.
12. Perform a leak-down test of the gearbox axis
1.
Detailed in section Performing a leak-
down test on page 224.
13. Refill the gearbox axis 1 with lubricating oil. Detailed in section Oil change, gearbox
axis 1 on page 182.
14. 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 409.
Action Note/Illustration
Continued
Continues on next page
To Next Page
Loading...
