Replacing the Upper Arms

Procedure Overview

Perform the following procedures to replace an upper arm:

Replacing the upper arm
Calibrating and Reassembling robot

Replacing the Upper Arm

WARNING
	FALLING HEAVY UPPER ARM Secure in place the upper arm when loosening and removing the bolts. Failure to follow these instructions can result in death, serious injury, or equipment damage.

Step	Action
1	Remove the telescopic axis and the lower arms. For further information, refer to Replacing the Telescopic Axis and Replacing the Lower Arms.
2	Remove the bolts at the upper arm.
3	Pull off the upper arm.
4	Verify whether the threaded pin (1) is in the hole of the gearbox. If there is no threaded pin, insert a new threaded pin at the position shown in the figure. For further information, refer to the detail drawing of the main body in Mechanical and Electrical Data.
5	Verify whether the flange surfaces of the gearbox (2) and of the upper arm are free from grease and oil. If necessary, remove grease and oil residues from the upper arm.
6	Attach the new upper arm to the gearbox. Tightening torque: For VRKP0 / VRKP1: 5 Nm (44.3 lbf-in) For VRKP2 / VRKP4 / VRKP5 / VRKP6: 14 Nm (124 lbf-in)

NOTICE
	INOPERABILITY OF UPPER ARM Remove all grease and oil residues from the gearbox flange and the upper arm. Failure to follow these instructions can result in equipment damage.

WARNING
	COLLISION OF COMPONENTS Only use the bolts that are prescribed by Schneider Electric. Failure to follow these instructions can result in death, serious injury, or equipment damage.

For further information on stud torques, bolt locking devices and installation notes, see the dimensional drawing in Mechanical and Electrical Data.

NOTE: To order the appropriate screws, contact your local Schneider Electric service representative.

Calibrating and Reassembling the Robot

Step	Action
1	Calibrate the robot mechanics.
2	Mount the telescopic axis and the lower arms. For further information, refer to Replacing the Telescopic Axis and Replacing the Lower Arms.

Step

Action

1

Calibrate the robot mechanics.

2

Mount the telescopic axis and the lower arms.

For further information, refer to Replacing the Telescopic Axis and Replacing the Lower Arms.

WARNING
	COLLISION OF COMPONENTS Calibrate the robot mechanics after the replacement of an upper arm, a motor, or a gearbox. Failure to follow these instructions can result in death, serious injury, or equipment damage.