NoteActionGuide pin, M12x150: 3HAC13056-2Fit two guide pins in opposite M12 holes.TipLubricate the guide pins with some greaseto make the upper arm slide better.2Guide pin, M12x200: 3HAC13056-3Always use guide pins in pairs!xx1300000659CAUTIONThe complete upper arm (including thewrist) weighs 200 kg.All lifting accessories used must be sizedaccordingly!3See Attaching the lifting accessories onpage 257.Attach the lifting accessories, if not alreadyfitted.4Lift the upper arm and put it on the guidepins.524 VDC power supplyIn order to release the brakes, connect the24 VDC power supply.6Connect to R2.MP3-connector:• + = pin 2• - = pin 5Rotation toolUse the rotation tool and rotate the axis-3motor to find the correct position for theguide pins in the lower arm.7xx1300000747Insert all nine M16 screws and 25 of the 27M12 screws.8M16, tightening torque: 280 NmSecure the upper arm to the lower arm withits attachment screws now fitted.9M12, tightening torque: 115 NmContinues on next page260 3HAC044266-001 Revision: -© Copyright 2013 ABB. All rights reserved.4 Repair4.5.1 Replacing the upper armContinued
