ABB IRB1410 - Changing the Bearings in the Upper Arm

4 Repair
4.3.4 Changing the bearings in the upper arm
84 3HAC026320-001 Revision: A
4.3.4 Changing the bearings in the upper arm
General
See foldout 1in chapter, Foldout.
To dismantle
To assemble
Action Note/Illustration
1.
Loosen the upper bracket of the tie rod. Described in section:
Changing the tie rod on page 90.
2.
Unscrew screws which hold the parallel arm to
gear 3.
See foldout/pos. <1/13>
3.
Remove the bearings from the parallel arm.
1.
Fit new bearings to the parallel arm.
2.
Replace the parallel arm using screws and
tighten.
See foldout/pos. <1/13>
Torque of 68 Nm ±10%
3.
Attach the upper bracket of the tie rod as specified
in.
Described in section:
Changing the tie rod on page 90.
4.
Calibrate the robot. Described in section:
Calibration methods on page 115