4 Repair
4.4.4. Replacement of upper arm
2873HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
xx0200000163
Required equipment
Removal, upper arm
The procedure below details how to remove the upper arm.
A Attachment hole for lifting eye, M12 (if wrist unit is mounted)
B Attachment for lifting device, upper arm (2 pcs if there is no wrist unit mounted)
C Oil plug, draining, gearbox axis 3
D Cable harness division; connector R2.M5/6
E Motor, axis 3
F Motor, axis 4
G Attachment screws and washers, upper arm
H Sealing, axis 2/3 (between lower arm and gearbox axis 3)
Equipment Art. no. Note
Sealing, axis 2/3 3HAC 12443-2 Always use a new sealing when
refitting the upper arm!
Washer, axis 3 (3 pcs) 3HAC 12703-1 To be replaced if damaged.
Guide pins, sealing axis 2/3 80 mm 3HAC 14628-1 For guiding "Sealing, axis 2/3".
Guide pins, sealing axis 2/3 100 mm 3HAC 14628-2 For guiding "Sealing, axis 2/3".
Power supply - 24 VDC, max 1,5A
For releasing the brakes.
Rotation tool 3HAC 17105-1 Used to rotate the motor shaft
beneath the motor cover, when
brakes are released with 24 VDC
power supply.
Lifting eye VLBG M12 3HAC16131-1
Lifting device, upper arm 3HAC15994-1
Lifting tool (chain) 3HAC15556-1 To be used together with lifting
eye, M12 and lifting device, upper
arm.
Standard toolkit 3HAC 15571-1 The contents are defined in
section Standard toolkit on page
436 in part 2 of the Product
manual.
Other tools and procedures may be
required. See references to these
procedures in the step-by-step instruc-
tions below.
These procedures include
references to the tools required.
Action Note
1.
DANGER!
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.
Continued
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