ABB IRB 6650S - 200/3.0 Product Manual page 256

4 Repair
4.4.3. Replacement of upper arm
Continued
10. Fit the three washers to be placed beneath the
1 1. Insert 31 of the 33 attachment screws, upper
12. Secure the lower arm to gearbox axis 3, with
13. Remove the guide pins and fit the two
254
Action
5. In order to release the brake of the axis 3 motor,
connect the 24 VDC power supply, after
removing the motor cover.
6. Fasten the lifting tool (chain) onto the lifting eye,
the lifting device and an overhead crane.
7.
CAUTION!
The complete upper arm weighs 380 kg without
any additional equipment fitted! Use a suitable
lifting device to avoid injury to personnel!
8. Lift the upper arm and move to its mounting
position.
Make sure the lift is done completely level!
9. Fit in the gearbox attachment holes with the
attachment holes on the lower arm with the
guide pins.
It may be necessary to turn the gear by rotating
the motor pinion with a rotation tool, motor
beneath the motor cover.
attachment screws.
arm into the attachment holes in the lower arm.
Do not remove the guide pins until the
attachment screws are tightened as detailed
below.
the attachment screws.
remaining attachment screws. Tighten them as
detailed above!
Note/Illustration
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
Art. no. is specified in Required
equipment on page 251!
Art. no. is specified in Required
equipment on page 251!
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in figure above.
• A: Rotation tool
Shown in the figure Location of upper
arm on page 250!
Shown in the figure Location of upper
arm on page 250!
Removing the plastic mechanical stops
may be required before fitting the upper
arm.
If guide pins are removed before the
screws are tightened, the sealing can
be involuntarily moved into wrong
position.
33 pcs: M12 x 50; 12.9 quality
UNBRAKO, tightening torque: 120 Nm.
Reused screws may be used, providing
they are lubricated as detailed in
section Screw joints on page 384
before fitting.
Continues on next page
3HAC020993-001 Revision: G