NoteAction
Guide pin, M12x150: 3HAC13056-2Fit two guide pins in opposite M12 holes.
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
2
Guide pin, M12x200: 3HAC13056-3
Always use guide pins in pairs!
xx1300000659
CAUTION
The complete upper arm (including the
wrist) weighs 200 kg.
All lifting accessories used must be sized
accordingly!
3
See Attaching the lifting accessories on
page 257.
Attach the lifting accessories, if not already
fitted.
4
Lift the upper arm and put it on the guide
pins.
5
24 VDC power supplyIn order to release the brakes, connect the
24 VDC power supply.
6
Connect to R2.MP3-connector:
• + = pin 2
• - = pin 5
Rotation toolUse the rotation tool and rotate the axis-3
motor to find the correct position for the
guide pins in the lower arm.
7
xx1300000747
Insert all nine M16 screws and 25 of the 27
M12 screws.
8
M16, tightening torque: 280 NmSecure the upper arm to the lower arm with
its attachment screws now fitted.
9
M12, tightening torque: 115 Nm
Continues on next page
260 3HAC044266-001 Revision: -
© Copyright 2013 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued
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