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4 Repair
4.4.4. Replacement of upper arm
Continued
10.
11.
12. Raise the lifting equipment to take the weight of the
13. In order to release the brake of the axis 3 motor,
262
Action
5. Upper arm including wrist unit:
Fit one of the pieces included in lifting device, upper
arm to the front attachment for lifting device on the
upper arm.
Upper arm without wrist unit:
Fit the lifting device, upper arm to both attachments
for lifting device.
6. Fasten the lifting tool (chain) onto the lifting eye, the
lifting device and an overhead crane.
7. Drain the oil from gearbox axis 3.
8. Remove the cover on top of the motors, axis 3 and
4 and disconnect all connectors inside the motors.
9. Remove the cable harness upper arm and place it
in a way that it will not be damaged in the
proceeding procedure of removing the upper arm.
CAUTION!
The complete upper arm weighs 380 kg without
any additional equipment fitted! Use a suitable
lifting device to avoid injury to personnel!
NOTE!
For Cleanroom robots apply a protection where the
lifting equipment and roundslings will rub against
the paint of the robot.
In order to prevent from particle emission while
lifting, put for example a 20 mm thick cellular plastic
sheet around the places on the robot where the
lifting equipment may rub against the paint.
upper arm.
connect the 24 VDC power supply.
NOTE!
When releasing the brake, the position of the upper
arm is adjusted to the position given by the lifting
equipment.
Note
Art. no. is specified in
Required
equipment on page
261.
Attachment point is shown in the
figure
Location of upper arm on
page
260.
NOTE!
The different attachment points,
depends on whether the wrist unit
is mounted or not!
Art. no. is specified in
Required
equipment on page
261.
Detailed in section
Oil change,
gearbox, axis 3 on page
160.
Detailed in section
Removal, cable
harness - upper arm on page
Detailed in section
Replacement of
cable harness, Cleanroom on
page
207.
Connect to connector R2.MP3
•
+: pin 2
•
-: pin 5
Continues on next page
3HAC026876-001 Revision: C
195.
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