4 Repair
4.3.3. Replacement of complete arm system
3HAC022033-001 Revision: E
236
©
Co
py
rig
h
t 200
4 - 20
08 ABB.
All r
ig
h
ts r
e
se
rv
ed
.
5. Fit two guide pins, M12 x 130, in the frame
attachment holes as shown in the figure to
the right.
Fit one guide pin next to the guiding hole (for
the spring pin in the gearbox) and the other
guide pin straight across the frame.
xx0300000070
The figure above shows a view from
below of the frame.
A. Attachment holes for the guide
pins, M12.
B. Guiding hole for the spring pin
located in the gearbox, axis 1.
6. Look through the empty mounting hole of
motor axis 1, to assist in aligning the
assembly during refitting of the arm system.
The guiding pin in the gearbox must be fitted
to the guiding hole of the frame (B).
Lower the arm system with guidance from
the guide pins previously fitted to the frame.
This is a complex task to be performed
with outmost care in order to avoid injury
or damage!
7. Refit 22 of the 24 attachment screws before
the arm system is completely lowered.
8. Remove the guide pins and secure the arm
system to the base with the 24
base
attachment screws
and washers.
Shown in the figure
24 pcs, M12 x 110; 12.9 quality
UNBRAKO, tightening torque: 110 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
before fitting.
9. Refit the
block for calibration
at the bottom
of the frame.
Shown in the figure
10. Refit the motor, axis 1.
Detailed in section
.
11. Perform a leak-down test.
Detailed in section
12. Refill the gearbox axis 1 with lubricating oil. Detailed in section
.
13. Recalibrate the robot.
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
.
Action
Note
Continued
Continues on next page
