4 Repair
4.4.5 Dismantling the complete upper arm
3HAC026320-001 Revision: A 93
7.
Attach the measuring instrument 3HAB 1205-1
to the shaft spindle on axis 3.
NOTE!
If measuring instrument is not available,
you can use a micrometer thickness
gauge.
Tool no. 3HAB 1205-1
8.
Hold the tool against the shoulder of the shaft
spindle and measure the dimension “A”. See
Figure 22.
Figure 22: Measuring the Shim Thickness
when preloading the Bearing
9.
(If you are not using the measuring instrument,
tighten using the KM nut and, before measuring
with the micrometer thickness gauge, then undo
it again.)
10.
Make a note of the dimension “A”. Fit one
washer and shims , and using the micrometer,
measure the thickness so that the total thick-
ness is 0.10 - 0.20 mm more than the noted
dimension “A”. This will result in a preloading of
the bearing of 0.10 - 0.20 mm.
See foldout/pos. <2/63>, <2/61>
and <2/62>
11.
Fit the shims and washer and tighten the KM
nut.
See foldout/pos. <2/64>
12.
Replace the upper attachment of the tie rod as
specified in.
Detailed in section:
Changing the tie rod on page 90.
13.
Replace the balancing springs. Detailed in section:
Dismantling the balancing
springs on page 85
14.
Reconnect the connection boxes and the
cabling.
15.
Calibrate the robot. Detailed in section:
Calibration methods on page 115
16.
Undo the KM-nut on the axis 2 side, just to be
able to adjust the calibration washer.
See foldout/pos. <2/50>
Action Note/Illustration
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