NoteAction
See sections:
• Replacing linkage - upper link arm
on page 221
• Replacing the linkage - lower link
arm on page 228
• Replacement of linkage - link on
page 235
Refit the linkage system.3
See section:
• Replacing the cable harness, upper
end (incl. axis 6) on page 163
Refit the cable harness.4
Move the robot to sync position.5
See section:
• Replacing the balancing device on
page 265
Refit the balancing device.6
Calibration is detailed in a separate calib-
ration manual enclosed with the calibra-
tion tools.
Recalibrate the robot.7
General calibration information is included
in section Calibration information on
page 329.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section DANGER - First
test run may cause injury or damage! on
page 45.
8
220 3HAC039838-001 Revision: C
© Copyright 2013 ABB. All rights reserved.
4 Repair
4.4.3 Replacing the upper arm
Continued
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