4 Repair
4.3.3 Dismantling the lower arm
74
3HAC021111-001 Revision: B
4.3.3 Dismantling the lower arm
See foldouts 1 (6 for IRB 1400H) in the list of spare parts.
To dismantle
1. Remove the balancing springs as described in section Dismantling the balancing
springs on page 76 (not valid for IRB 1400H).
2. Remove the cabling down to axis 1 according to section Cabling and serial mea-
3. Dismantle the upper arm as specified in section Dismantling the complete upper
4. Attach the crane to the lower arm.
5. Remove the parallel arm in accordance with section Dismantling the parallel arm
6. Loosen screws <1/13>.
7. Remove the lower arm.
To assemble
1. Transfer the damping element and calibration marking to the new lower arm.
2. Lift the lower arm into position.
3. Fix the lower arm to gear 2 using screws <1/13> and tighten them to a torque of
68 Nm ±10%.
To prevent clicking during operation of the robot, grease the bearing seating of the parallel
arm in the lower arm.
4. Replace the parallel arm as described in section Dismantling the parallel arm on
5. Replace the upper arm as specified in section Dismantling the complete upper
6. Replace the balancing springs in accordance with section Dismantling the balanc-
ing springs on page 76 (not valid for IRB 1400H).
7. Replace the cabling as described in section Cabling and serial measuring board
8. Calibrate the robot according to section Calibration information on page 131.
Tightening torque
Screwed joint of lower arm/gear 2, item <13>:68 Nm ±10%
Содержание IRB 1400
Страница 1: ...Product manual Articulated robot IRB 1400 M2004 ...
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Страница 3: ...Product manual 3HAC021111 001 Revision B Articulated robot IRB 1400 M2000 M2004 ...
Страница 12: ...0 0 2 Product documentation M2000 10 3HAC021111 001 Revision B ...
Страница 132: ...5 Calibration M2000 5 4 1 Post calibration procedure 130 3HAC021111 001 Revision B ...
Страница 141: ...6 Calibration information 6 0 6 Checking the calibration position 3HAC021111 001 Revision B 139 ...
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Страница 148: ...7 Alternative calibration 7 0 5 Retrieving offset values 146 3HAC021111 001 Revision B ...
Страница 160: ...8 Reference information IRB 1400 8 0 9 Lifting equipment and lifting instructions 158 3HAC021111 001 Revision B ...
Страница 170: ...10 Foldouts 10 0 1 Introduction 168 3HAC021111 001 Revision B ...
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Страница 182: ...11 Circuit diagram 11 0 1 Introduction 170 3HAC021111 001 Revision B ...
Страница 183: ...11 Circuit diagram 11 0 2 Sheet 101 List of contents 3HAC021111 001 Revision B 171 11 0 2 Sheet 101 List of contents ...
Страница 186: ...11 Circuit diagram 11 0 5 Sheet 104 Motor axes 1 3 3HAC021111 001 Revision B 174 11 0 5 Sheet 104 Motor axes 1 3 ...
Страница 187: ...11 Circuit diagram 11 0 6 Sheet 105 Feedback axes 1 3 3HAC021111 001 Revision B 175 11 0 6 Sheet 105 Feedback axes 1 3 ...
Страница 189: ...11 Circuit diagram 11 0 8 Sheet 107 Feedback axes 4 6 3HAC021111 001 Revision B 177 11 0 8 Sheet 107 Feedback axes 4 6 ...
Страница 194: ...11 Circuit diagram 11 0 12 Sheet 111 External connections Option 182 3HAC021111 001 Revision B ...
Страница 196: ...Index 184 ...
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