ABB IRB1410 - Dismantling the Parallel Arm

4 Repair
4.4.3 Dismantling the parallel arm
3HAC026320-001 Revision: A 89
4.4.3 Dismantling the parallel arm
See foldout 1 in chapter, Foldout.
To dismantle
To assemble
Action Note/Illustration
1.
Loosen the upper bracket of the tie rod. Detailed in section:
Changing the tie rod on page 90.
2.
Unscrew screws which fix the parallel arm to gear
3.
See foldout/pos. <1/13>
3.
Remove the bearings from the parallel arm.
Action Note/Illustration
1.
Fit the bearings on the parallel arm.
2.
Replace the parallel arm using screws and tighten. See foldout/pos. <1/13>
Torque, 68 Nm ±10%.
3.
Attach the upper bracket of the tie rod. Detailed in section:
Changing the tie rod on page 90
4.
Calibrate the robot. Detailed in section:
Calibration methods on page 115