ABB IRB 6660 - 130/3.1 Product Manual page 212

4 Repair
4.4.6. Replacement of parallel arm
Continued
210
Action
4. Refit a bearing on each shaft with pressing tool,
lower arm.
5. Refit the protection washer on the inner shaft.
6. Refit the lock ring on the inner shaft.
7. Lift the lower arm onto the workbench with lifting
tool, lower arm complete.
8. Adjust the lower arm in a way that both holes are
parallel.
Use a level.
9. Apply some grease in the holes in the lower arm.
10. Fit the lifting device, parallel arm.
11.
CAUTION!
The parallel arm weighs 92 kg.
12. Lift the parallel arm and put it in mounting position
with the lower arm.
13. Carefully press the parallel arm onto the lower arm
with the pressing tool, lower arm.
14. Refit the big and small VK covers.
15. Refit the complete lower arm.
16. Recalibrate the robot.
17.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section DANGER - First test run may
cause injury or damage! on page
Note
Art. no. is specified in
equipment on page 208
Art. no. is specified in
equipment on page 208
Art. no. is specified in
equipment on page
Art. no. is specified in
equipment on page
Detailed in section
of complete lower arm on page
203.
Calibration is detailed in a
separate calibration manual,
enclosed with the calibration
tools.
General calibration information is
included in section
information.
33.
3HAC028197-001 Revision: A
Required
Required
Required
208.
Required
208.
Replacement
Calibration