ABB M2000, Product Manual

Page: 89 / 234

4 Repair
4.2.2. Replacement of complete upper arm
87 3HAC023297-001 Revision: A
3. Remove the rear cover armhousing by unscrewing
its four attachment screws. Shown in the figure Location of
upper arm on page 85!
4. DO NOT under any circumstance unscrew the six
screws on top of the lower arm! Doing so will cause
the manipulator to require a complete rebuild!
xx0300000101
• A: DO NOT touch these
screws! (NOTE! Only
two screws shown!)
5. Disconnect all cables to/from motors 4-6. Connectors
• R3.MP4
• R3.MP5
• R3.MP6
• R3.FB4
• R3.FB5
• R3.FB6
6. Disconnect any connector from the CS-connector. Shown in the figure Location of
upper arm on page 85!
7. Use a special socket to remove the CS-connector
from the housing and pull it into the upper arm
assembly. Shown in the figure Location of
upper arm on page 85!
Art. no. specified in section
Required equipment on page
86!
8. Remove the pressurized air connector from the
housing and pull it into the upper arm assembly. Shown in the figure Location of
upper arm on page 85!
Art. no. specified in section
Required equipment on page
86!
9. Remove the VK-cover from the upper arm/lower
arm joint. Shown in the figure Location of
upper arm on page 85!
Detailed in section Removing
the VK cover on page 88.
10. Remove the cable guide by unscrewing its two
attachment screws.
Shown in the figure Location of
upper arm on page 85!
11. Gently pull all cables and hoses out.
12. Remove the upper arm by unscrewing its six
attachment screws.
Shown in the figure Location of
upper arm on page 85!
13. Lift the upper arm and place it on a secure surface.
Step Action Note/Illustration