4 Repair
4.2.2 Changing the gearbox
76 3HAC026320-001 Revision: A
To assemble
NOTE!
Make sure that the foot is stable
Figure 19:
9.
Undo screws. See foldout/pos. <1/4>.
10.
Separate the base from the gear unit.
Action Note /Illustration
Action Note/Illustration
1.
Place a new gear unit on the table.
2.
Raise the base.
3.
Screw in the screws together with their washers. See foldout/pos. <1/4> and <1/3>.
Tighten using a torque of 68 Nm
±10%.
4.
Replace the bottom plate using screws. See foldout/pos. <1/5> and <1/7>
5.
Turn the foot.
6.
Replace the lower arm. Described in section:
Dismantling the lower arm on page
82.
7.
Replace the parallel arm. Described in section:
Dismantling the parallel arm on
page 89.
8.
Replace the upper arm. Described in section:
Dismantling the complete upper
arm on page 92.
9.
Replace the cabling. Described in section:
Changing the cabling in axes 1, 2
and 3 on page 103.
Changing serial measuring boards
on page 102.
10.
Replace the tie rod. Described in section:
Changing the tie rod on page 90.
11.
Replace the balancingd springs. Described in section:
Dismantling the balancing springs
on page 85
12.
Calibrate the robot. Described in section:
Calibration methods on page 115
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