ABB IRB 2400/10, Руководство по эксплуатации продукта

Страница: 111 / 227

4 Repair
4.5.1. Replacement of complete lower arm
109 3HAC022031-001 Revision: C
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Refitting, lower arm
The procedure below details how to refit the complete lower arm.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Move the damper and calibration marking to
the new lower arm.
3. Make sure that the sealing ring is fitted
properly to the gearbox, undamaged and
properly lubricated with
grease . If damaged,
replace with a new one.
Spare part no. is specified in Required
equipment on page 106 .
Shown in the figure Location of lower
arm on page 106 .
4.
CAUTION!
The lower arm weighs 27 kg! Use a suitable
lifting device to avoid injury to personnel!
5. Lift the lower arm into position.
6. Fit the spring tension plate to the lower arm
and secure the arm to the gearbox with the 12
attachment screws .
12 pcs; M10 x 40. Tightening torque:
72 Nm.
7. Refit the parallel arm. Detailed in section Refitting, parallel
arm on page 121 .
8. Refit the tie rod. Detailed in section Refitting, tie rod on
page 112 .
9. Refit the upper arm. Detailed in section Refitting, upper arm
on page 104 .
10. Refit the cabling. Detailed in section Refitting, cable
harness, axes 4-6 on page 91 .
11. Recalibrate the robot! Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
Calibration
information on page 159 .
12.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
DANGER - First test
run may cause injury or damage! on page 35 .
Continued