Table of Contents
Advertisement
4.3.4 Changing the bearings in the upper arm
See foldout 1 (6 for IRB 1400H) in the list of spare parts.
To dismantle
1. Loosen the upper bracket of the tie rod as described in section Changing the tie
2. Unscrew screws <13> which hold the parallel arm to gear 3.
3. Remove the bearings from the parallel arm.
To assemble
1. Fit new bearings to the parallel arm.
2. Replace the parallel arm using screws <13> and tighten to a torque of 68 Nm
3. Attach the upper bracket of the tie rod as specified in section Changing the tie rod
4. Calibrate the robot according to section Calibration information on page 131.
Tightening torque
Screwed joint of parallel arm/gear 3, pos. <13>:68 Nm ±10%
3HAC021111-001 Revision: B
rod on page 80.
±10%.
on page 80.
4.3.4 Changing the bearings in the upper arm
4 Repair
75
Advertisement
Table of Contents
