ABB IRB 1400, Product Manual

Page: 84 / 198

4 Repair
4.4.5 Dismantling the complete upper arm
82 3HAC021111-001 Revision: B
Measuring the Shim Thickness when preloading the Bearing.
9. Make a note of the dimension “A”. Fit one washer <63> and shims <61-62>, and
using the micrometer, measure the thickness so that the total thickness 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.
10.Fit the shims and washer and tighten the KM nut <64>.
11.Replace the upper attachment of the tie rod as specified in section Changing the
tie rod on page 80.
12.Replace the balancing springs as described in section Dismantling the balancing
springs on page 76 (not valid for IRB 1400H).
13.Reconnect the connection boxes and the cabling.
14.Calibrate the robot in accordance with section Calibration information on page
131.
15.Undo the KM-nut on the axis 2 side, just to be able to adjust the calibration
washer <50>.
16.If the old armhouse is mounted, adjust the calibration washer according to the
punch mark. If the armhouse is new adjust the washer according to Figure and
make new punch marks for axes 3 and 4, according to section Calibration scales,
IRB 1400 on page 134.