Replace TR1-TR3 H1000

This article describes how to replace support arms 1 - 3 on the Horst 1000.

Spare parts required:

1.  Load the program to move the robot to its default position. Before running the program, ensure that the robot is positioned in a location where there can be no collisions. 
   
2.  Power down the robot and disconnect it from the power source. Loosen all screws of the Cover.
   
3.  Remove the two plastic covers.
4. Loosen the 1mm grub screws on the encoder socket and remove the encoder. 
   
5.  Release the mounting screws of the encoder and gently pull it off. 
   
6. Secure the support arm before folding it down and loosen the connecting bolt. Pull the linkage backward. 
   
7. Gently loosen the screws of the two wings. The support arm is now free and can be removed upward. 
   
8. The arm is now disassembled, and you can insert the new arm. 
   
   
   
9.   Secure the wings on both sides.
   
10. Thread the linkage into the rear part of the support arm and insert the bolt. During assembly, ensure that the disc spring faces the linkage with the funnel side.
    
11. Preload the bearing.
    
    
12. Place encoder 3 onto the shaft and carefully fasten it. 
    
    
13. Tighten the clamping screws of the encoder socket. 
    
14. Reconnect the encoder and securely fasten all the cover. 
    
15. Connect the encoder and motor to the driver unit and fasten the unit to the support arm.
16. Test the robot to ensure that it is working properly. Make sure that all movements of the robot run smoothly and safely.