1

Remove the lower arms as described in Replacing the Lower Arms.

2

Unscrew the ball pins from the parallel plate and/or the upper arm.

3

Clean the holes.

4

Mount the new ball pins to the parallel plate and/or the upper arm. Use the medium strength threadlocking adhesive Loctite 243 for this purpose.

Tightening torque: 8.6 Nm (75 lbf-in).

5

Mount the lower arms as described in Replacing the Lower Arms.

CAUTION

COLLISION OF ROBOT COMPONENTS

oVerify the flush fitting with the contact surface and the correct use of the bolt locking device.

oMaintain the correct tightening torque.

Failure to follow these instructions can result in injury or equipment damage.