ABB IRB 6650S - 200/3.0 Product Manual page 255

Refitting, upper arm
The procedure below details how to refit the upper arm.
3HAC020993-001 Revision: G
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Fit the two guide pins, sealing axis 2/3 in two of
the attachment screw holes on gearbox 3, see
figure to the right.
Guide the new sealing, axis 2/3 into position on
gearbox 3, using the guide pins.
3. Upper arm including wrist unit:
Fit the lifting eye, VLBG M12 to the attachment
hole, lifting eye on the wrist unit.
4. Upper arm including wrist unit:
Fit one of the pieces included in the lifting
device, upper arm to the front attachment for
the lifting device on the upper arm.
Upper arm without wrist unit:
Fit the lifting device, upper arm to the both
attachments for the lifting device on the upper
arm.
4.4.3. Replacement of upper arm
Note/Illustration
Always use a new sealing when reas-
sembling!
Art. no. is specified in Required
equipment on page 251!
xx0200000166
A. Holes for the guide pins (sealing
axis 2/3).
B. Holes for the upper arm
attachment screws (33 pcs).
C. Holes for the gearbox
attachment screws (not affected
in this instruction).
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 points are 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!
Continues on next page
4 Repair
Continued
253