Replacement Of Upper Arm - ABB IRB 6650S - 200/3.0 Product Manual

4 Repair

4.4.3. Replacement of upper arm

4.4.3. Replacement of upper arm
Location of upper arm
The upper arm is located on top of the robot as shown in the following figure. The complete
upper arm includes the wrist unit but this section also describes how to remove the upper arm
when there is no wrist unit mounted.
Note! The lifting device is attached differently depending on whether the wrist unit is
mounted on the upper arm or not. The attachment points are shown in the following figure.
A more detailed view of the component and its position may be found in chapter
views
250
in the Product manual, reference information.
3HAC020993-001 Revision: G
Exploded
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