ABB IRB 6650S - 200/3.0 Product Manual page 264

4 Repair
4.4.4. Replacement of complete lower arm
Continued
10. Secure the lower arm with 16 of the
11. Remove the guidings and secure the two
12. Refit the lower arm shaft and all additional
13. Remove the lifting tool from the lower arm.
14. Refit and restore the balancing device.
15. Refit the upper arm.
16. Perform a leak-down test.
17. Refill the gearbox with oil.
18. Refit and reconnect all cables inside the lower
19. Recalibrate the robot!
20.
262
Action
9. Disconnect the power supply, if used.
18attachment screws and washers in gearbox,
axis 2.
remaining screws as detailed above!
components, as detailed in section
lower arm shaft on page
arm.
Resecure any cable attachments.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
Note/Illustration
18 pcs: M16 x 50, tightening torque:
300 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in section
page 384
Shown in the figure
components, lower arm on page
Refitting,
267!
Detailed in section
device on page
Detailed in section
on page
Detailed in section
down test on page
Detailed in section
axis 2 on page
Detailed in section
harness, axes 1-4 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
38.
Screw joints on
before fitting.
Internal
256!
Refitting, balancing
290.
Refitting, upper arm
253.
Performing a leak-
200.
Oil change, gearbox
160.
Refitting, cable
221.
Calibration
365.
3HAC020993-001 Revision: G