4 Repair
4.4.4. Replacement of complete lower arm
2593HAC020993-001 Revision: G
© Copyright 2004-2008 ABB. All rights reserved.
Removal, lower arm
The procedure below details how to remove the complete lower arm.
Action Note/Illustration
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.
2. Remove the upper arm. Detailed in section Removal, upper
arm on page 251.
3. Disconnect and remove the cables from inside
the lower arm.
Release any cable attachments.
Detailed in section Removal, cable
harness, axes 1-4 on page 218.
4. Apply the lifting eye, M12 to the balancing device
and raise to unload the weight of the device.
Art. no. is specified in Required
equipment on page 258.
Attachment is shown in the figure
Location of lower arm on page 256.
5. Unload the balancing device in order to make the
piston rod and front ear adjustable when pulling
the front shaft out.
Detailed in sectionUnloading the
balancing device on page 295.
6. Remove the securing screw from the balancing
device front shaft.
Shown in the figure Location of lower
arm on page 256.
7. Apply the puller tool, balancing device shaft to the
shaft of the balancing device, through the hole in
the frame.
The shaft has a M20 thread diameter, as shown
in the figure to the right.
Pull the shaft out using the puller tool and the
hydraulic pump.
xx0300000060
Note! The dimension of the shaft
puller tool is M20. Do not mix up with
the shaft press tool used when
mounting the shaft.
Art. no. is specified in Required
equipment on page 258.
8. Lower the balancing device until it rests safely
against the bottom of the frame.
Continued
Continues on next page
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