4 Repair
4.4.4. Replacement of upper arm
2913HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
11 . Insert 31 of the 33 attachment screws, upper
arm into the attachment holes in the lower arm.
Do not remove the guide pins until the
attachment screws are tightened as detailed
below.
Shown in the figure Location of upper
arm on page 286!
Removing the plastic mechanical stops
may be required before fitting the upper
arm.
If guide pins are removed before the
screws are tightened, the sealing can
be involuntarily moved into wrong
position.
12. Secure the lower arm to gearbox axis 3, with
the attachment screws.
33 pcs: M12 x 50; 12.9 quality
UNBRAKO, tightening torque: 120 Nm.
Reused screws may be used, providing
they are lubricated as detailed in
section Screw joints on page 432
before fitting.
13. Remove the guide pins and fit the two
remaining attachment screws. Tighten them as
detailed above!
14. Disconnect the brake release voltage and
remove the rotation tool from the motor.
15. Remove the lifting devices.
16. Refit any cabling removed during the removal
process.
17. Reconnect all connectors inside motors, axis 3
and 4. Refit the motor covers.
18. Reconnect connector R2.M5/6 gently at the
cable harness division point, with 2 screws, M6.
Be careful not to bend the attachment plate
when fastening the screws!
19. Perform a leakdown test. Detailed in section Performing a leak-
down test on page 224.
20. Refill the gearbox with oil. Detailed in section Oil change,
gearbox, axis 3 on page 188.
21. 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.
22.
DANGER!
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 38.
Action Note/Illustration
Continued
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