ABB IRB 6650S - 200/3.0 Product Manual page 236

4 Repair
4.3.5. Replacement of complete arm system
Continued
234
Action
2. Fit the lifting device as detailed in enclosed
instruction.
Also fit a hoisting block to the frontchain,
used to adjust the balance of the arm system
in order to lift it completely level!
3.
CAUTION!
The complete arm system weighs 1250 kg!
All lifting equipment used must be sized
accordingly!
4. Lift the complete arm system and move it at
very low speed, making sure it does not tip!
Make sure the lift is done completely level.
Adjust the length of the chains as detailed in
enclosed instruction or with a hoisting block!
5. Fit the two guide pins to the frame
attachment holes, as shown in the figure to
the right.
Fit one guide pin next to the guiding hole (for
the spring pin in the gearbox) and the other
guide pin straight across the frame.
6. Look through the empty mounting hole of
motor 1 to assist in aligning the assembly
during refitting of the arm system.
The spring pin in the gearbox must be fitted
to the guiding hole of the frame (B).
Lower the arm system with guidance from
the guide pins previously fitted to the frame.
The refitting must be made completely level!
Make sure the lifting device is adjusted prior
to refitting of arm system.
7. Refit 22 of the 24 attachment screws before
the arm system is completely lowered.
Note/Illustration
Art. no. is specified in Required
equipment on page 232!
Make sure all the hooks and attachments
stay in the correct position while lifting the
robot!
Dimension is specified in Required
equipment on page 232.
xx0600003441
The figure above shows the frame, view
from below.
A. Attachment holes for the guide
pins, M12.
B. Guiding hole for the spring pin
located in the gearbox, axis 1.
This is a complex task to be performed
with utmost care in order to avoid injury or
damage!
Continues on next page
3HAC020993-001 Revision: G