ABB IRB 1400, Product Manual

Page: 77 / 198

4 Repair
4.3.4 Changing the bearings in the upper arm
3HAC021111-001 Revision: B 75
4.3.4 Changing the bearings in the upper arm
See foldout 1 (6 for IRB 1400H) in the list of spare parts.
To dismantle 1. Loosen the upper bracket of the tie rod as described in section Changing the tie
rod on page 80.
2. Unscrew screws <13> which hold the parallel arm to gear 3.
3. Remove the bearings from the parallel arm.
To assemble 1. Fit new bearings to the parallel arm.
2. Replace the parallel arm using screws <13> and tighten to a torque of 68 Nm
±10%.
3. Attach the upper bracket of the tie rod as specified in section Changing the tie rod
on page 80.
4. Calibrate the robot according to section Calibration information on page 131.
Tightening torque Screwed joint of parallel arm/gear 3, pos. <13>:68 Nm ±10%