ABB IRB 6650S - 200/3.0 Product Manual page 261

Removal, lower arm
The procedure below details how to remove the complete lower 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. Remove the upper arm.
3. Disconnect and remove the cables from inside
the lower arm.
Release any cable attachments.
4. Apply the lifting eye, M12 to the balancing device
and raise to unload the weight of the device.
5. Unload the balancing device in order to make the
piston rod and front ear adjustable when pulling
the front shaft out.
6. Remove the securing screw from the balancing
device front shaft.
7. Apply the puller tool, balancing device shaft to the
shaft of the balancing device, through the hole in
the frame.
The shaft has a M20 thread diameter, as shown
in the figure to the right.
Pull the shaft out using the puller tool and the
hydraulic pump.
8. Lower the balancing device until it rests safely
against the bottom of the frame.
4.4.4. Replacement of complete lower arm
Note/Illustration
Detailed in section
arm on page 251.
Detailed in section
harness, axes 1-4 on page
Art. no. is specified in
equipment on page
Attachment is shown in the figure
Location of lower arm on page
Detailed in sectionUnloading the
balancing device on page
Shown in the figure
arm on page 256.
xx0300000060
Note! The dimension of the shaft
puller tool is M20. Do not mix up with
the shaft press tool used when
mounting the shaft.
Art. no. is specified in
equipment on page
Continues on next page
4 Repair
Continued
Removal, upper
Removal, cable
218.
Required
258.
256.
295.
Location of lower
Required
258.
259