4 Repair
4.4.4. Replacement of complete lower arm
2953HAC022033-001 Revision: K
© Copyright 2004-2011 ABB. All rights reserved.
16. Set the indicator on the press tool to zero.
17. Press in the shaft with the hydraulic cylinder by
setting the pressure of the hydraulic pump to
approximately 35-55 MPa and the pressure of
the glycerin pump to 55 MPa.
18. Increase the pressure of the both pumps
alternately until the correct value is reached with
the indicator on the press tool.
Correct value: 2.45 mm ± 0.15 mm
NOTE!
Do not exceed the limit of maximum
pressure classified for the pumps!
19. Remove the press tool, axis 2 shaft. Release the pressure from the
glycerin pump first, then from the
hydraulic cylinder (approximately 1/2
minute after), in order to avoid
movement of the shaft.
20. Refit the thrust washer to the shaft. Shown in the figure Attachment
points, lower arm on page 288.
21. Apply grease to the location of the shaft where
the bearing is to be mounted.
22. Press the bearing in with the press tool, axis 2
bearing.
Always use a new bearing when reas-
sembling!
Art. no. is specified in Required
equipment on page 289.
23. Refit the protection washer and the retaining
ring.
Shown in the figure Attachment
points, lower arm on page 288.
24. Refit the protection plug. Shown in the figure Attachment
points, lower arm on page 288.
25. Refit and restore the balancing device. Detailed in section Refitting,
balancing device on page 312.
26. Refit the upper arm. Detailed in section Refitting, upper
arm on page 285.
27. Perform a leak-down test. Detailed in section Performing a leak-
down test on page 246.
28. Refill the axis 2 gearbox with oil. Detailed in section Filling, oil on page
205.
29. Refit and reconnect all cables inside the lower
arm.
Refit removed cable attachments.
Detailed in section Refitting, cable
harness, axes 1-4 on page 255.
30. Recalibrate the robot. Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in section Calibration
information on page 403.
Action Note
Continued
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