Mounting the Lower Arms

Overview

DANGER
	ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH Disconnect all power from all equipment including connected devices prior to removing any covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment. Always use a properly rated voltage sensing device to confirm the power is off where and when indicated. Operate electrical components only with a connected protective ground (earth) cable. Verify the secure connection of the protective ground (earth) cable to all electrical devices to ensure that connection complies with the connection diagram. Do not touch the electrical connection points of the components when the module is energized. Provide protection against indirect contact. Insulate any unused conductors on both ends of the motor cable. Failure to follow these instructions will result in death or serious injury.

DANGER

ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH

Disconnect all power from all equipment including connected devices prior to removing any covers or doors, or installing or removing any accessories, hardware, cables, or wires except under the specific conditions specified in the appropriate hardware guide for this equipment.
Always use a properly rated voltage sensing device to confirm the power is off where and when indicated.
Operate electrical components only with a connected protective ground (earth) cable.
Verify the secure connection of the protective ground (earth) cable to all electrical devices to ensure that connection complies with the connection diagram.
Do not touch the electrical connection points of the components when the module is energized.
Provide protection against indirect contact.
Insulate any unused conductors on both ends of the motor cable.

Failure to follow these instructions will result in death or serious injury.

The lower arms can be damaged if they are mounted incorrectly and then pulled apart.

NOTICE
	INCORRECT MOUNTING OF LOWER ARMS Always hold the lower arms at the level of the lower arm heads to pull them apart. Failure to follow these instructions can result in equipment damage.

Procedure Overview

Perform the following steps to mount the lower arms:

Assembling the lower arms
Verifying the springs
Hooking in the lower arms

Assembling the Lower Arms

Step	Action
1	Verify that the lower arms show no visible signs of transport damage. If there are visible signs of transport damage, replace the lower arms.
2	Pull the springs (1) across the spring brackets (2) located on the lower arms and connect each of the two lower arms to form a lower arm pair.
3	Use the figure above to verify the correct alignment of the lower arm heads and the ball sockets (3).
4	Attach a total of two springs per lower arm pair, one at the lower end, one at the upper end.

Verifying the Springs

Verify that the spring windings are in contact with one another when they are completely contracted (no load condition). If the spring windings are not in contact, replace them.

Hooking in the Lower Arms

NOTICE
	OVERSTRETCHING OF THE SPRINGS Never pull the springs further apart than necessary to pull the lower arm over the second ball pin of the upper arm. Avoid pulling the arms apart and simultaneously across both ball pins. Replace springs after exceeding the elastic limit of the springs (overstretch). Failure to follow these instructions can result in equipment damage.

Step	Action
1	Verify that the ball sockets (1) are located in each lower arm head.
2	Verify that the springs (2) are embedded in the spring brackets (3).
3	Pull a lower arm head (4) over a ball pin (5) of the upper arm.
4	Pull the arm apart against the force of the spring in order to pull the lower arm (6) over the second ball pin (7) of the upper arm. NOTE: Only touch the upper arm at its end and slightly rotate the aperture of the lower arm head in the direction of the ball pin.
5	Position the aperture of the lower arm on the ball pin. Result: The lower arm is hooked on the upper arm.
6	Pull a lower arm head (8) over a ball pin (9) of the parallel plate. NOTE: For robots with motorized modules, use the module instead of the parallel plate. Refer to: Mounting the Module on Robots with Motorized Modules.
7	Pull the arm apart against the force of the spring in order to pull the lower arm (10) over the second ball pin (11) of the upper arm. NOTE: Only touch the upper arm at its ends as shown in the small graphic and slightly rotate the aperture of the lower arm head in the direction of the ball pin.
8	Position the aperture of the lower arm on the ball pin. Result: The lower arm is hooked on the parallel plate.
9	Repeat the process for all lower arms.