ABB IRB 140, Product Manual

Page: 140 / 252

Note Action
Detailed in section Replacing the
serial measurement unit and the bat-
tery pack on page 167
.
Remove the serial measurement unit. 5
Detailed in section Replacement of
complete upper arm on page 128 .
Remove the complete upper arm. 6
Detailed in section Replacement of
complete lower arm on page 134 .
Remove the complete lower arm. 7
Unfasten the base from the installation site by
removing the attachment bolts from the founda-
tion. 8
Fit the lifting slings to the robot, lift it and place
it with the side of the lower arm downwards on
a work bench.
9
Shown in the figure Location of base
on page 138 .
Remove the bottom plate . 10
Shown in the figure Location of base
on page 138 .
Secure the weight of the base and remove the
gearbox/base attachment screws and washer .
11
Separate the base from the gearbox unit. 12
Refitting, base
The procedure below details how to refit the base to the robot.
Note Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working
area.
1
Clean the joints that have been opened. See
Cut the paint or surface on the robot before re-
placing parts on page 118
2
Place the robot with the side of the lower arm
downwards on a workbench. 3
Clean the mating surfaces between the base
and the gearbox unit with isopropanol. 4
Lubricate the mating surface on the base with
Loctite 574. 5
Lift the base to mounting position. 6
Shown in the figure Location of base
on page 138 .
Secure the base to the gearbox unit with the
gearbox/base attachment screws and washer.
7
Tightening torque: 35 Nm ± 3Nm
Shown in the figure Location of base
on page 138 .
Refit the bottom plate and secure it with its at-
tachment screws .
8
Turn the robot to stand upright. 9
Continues on next page
140 Product manual - IRB 140
3HAC027400-001 Revision: V
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.3.4 Replacement of base
Continued