4 Repair
4.4.3. Replacement of upper arm
2553HAC020993-001 Revision: G
© Copyright 2004-2008 ABB. All rights reserved.
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 200.
20. Refill the gearbox with oil. Detailed in section Oil change,
gearbox, axis 3 on page 163.
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 365.
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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