4 Repair
4.4.5. Replacement of complete lower arm
2833HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
7. In case the hole pattern of the lower arm and
the gearbox axis 2 does not match, use power
supply to release the motor axis 2 brakes and
rotate the pinion and gear with the rotational
tool.
Connect power supply to connector
R2.MP2
• +: pin 2
• -: pin 5
xx0200000165
The rotation tool (A) is used beneath
the motor cover, directly on the motor
shaft as shown in figure above.
Art. no. is specified in Required
equipment on page 279.
8. Disconnect the power supply, if used.
9. Secure the lower arm with 18 of the
20attachment screws and washers in gearbox,
axis 2.
20 pcs: M16 x 50, tightening torque:
300 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in the section Screw joints on
page 405 before fitting.
10. Remove the guidings and secure the two
remaining screws as detailed above!
11. Remove the lifting tool from the lower arm.
12. Refit and restore the balancing device. Detailed in section Refitting of
balancing device.
13. Refit the upper arm. Detailed in section Refitting, upper arm
on page 275.
14. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 196.
15. Refill the gearbox with oil. Detailed in section Oil change, gearbox
axis 2 on page 168.
16. Refit and reconnect all cables inside the lower
arm.
Resecure any cable attachments.
Detailed in section Refitting, cable
harness, axes 1-4 on page 241.
Detailed in section Replacement of
cable harness, Cleanroom on page
224.
17. Recalibrate the robot! Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration
information.
Action Note
Continued
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