ABB IRB 6650S - 200/3.0 Product Manual page 254

4 Repair
4.4.3. Replacement of upper arm
Continued
10. Remove all brackets securing the cabling to the
11.
12. Raise the lifting equipment to take the weight of the
13. In order to release the brake of the axis 3 motor,
14. Carefully remove the attachment screws and
15. Lift the upper arm and place it on a secure surface.
16. Remove the sealing, axis 2/3 from the lower arm.
252
Action
2. Remove all equipment fitted to turning disk.
3. Move the upper arm to a horizontal position.
Rotate axis 4 so that the attachment hole for lifting
eye is faced upwards!
4. Upper arm including wrist unit:
Fit the lifting eye, VLBG M12 to the attachment hole
for lifting eye on the upper arm tube.
5. Upper arm including wrist unit:
Fit one of the pieces included in lifting device, upper
arm to the front attachment for lifting device on the
upper arm.
Upper arm without wrist unit:
Fit thelifting device, upper arm to the both
attachments for lifting device.
6. Fasten the lifting tool (chain) onto the lifting eye, the
lifting device and an overhead crane.
7. Drain the oil from gearbox axis 3.
8. Disconnect connector R2.M5/6 at the cable
harness division as well as all remaining
connections between upper and lower arm.
9. Remove the cover on top of the motors, axis 3 and
4 and disconnect all connectors inside the motors.
upper arm by removing their attachment screws
respectively.
CAUTION!
The complete upper arm weighs 380 kg without
any additional equipment fitted! Use a suitable
lifting device to avoid injury to personnel!
upper arm.
connect the 24 VDC power supply.
Note! When releasing the brake, the position of the
upper arm is adjusted to the position given by the
lifting equipment.
washers, upper arm.
Make sure the lift is done completely level! In case
of necessary adjustments, use the shortening loops
on the lifting tool (chain), but make sure to place the
chain the right way through the loops!
Note
Shown in the figure Location of
upper arm on page 250!
Art. no. is specified in Required
equipment on page 251!
Shown in the figure Location of
upper arm on page 250!
Art. no. is specified in Required
equipment on page 251!
Attachment point is shown in the
figure Location of upper arm on
page 250!
Notice the different attachment
points, depending on whether the
wrist unit is mounted or not!
Art. no. is specified in Required
equipment on page 251!
Detailed in section Oil change,
gearbox, axis 3 on page 163.
Shown in the figure Location of
upper arm on page 250!
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
Shown in the figure Location of
upper arm on page 250!
Shown in the figure Location of
upper arm on page 250!
Continues on next page
3HAC020993-001 Revision: G