ABB IRB 6650S - 200/3.0 Product Manual page 291

Removal, balancing device
The procedure below details how to remove the balancing device.
3HAC020993-001 Revision: G
Action
1. Move the lower arm to a position close to the
calibration position.
2.
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.
3. Secure the lower arm to the frame by inserting
the locking screw into the attachment hole in
the frame.
4.
CAUTION!
The balancing device weighs 210 kg! All lifting
equipment used must be sized accordingly!
5. Apply the lifting eye and the shackle to the
attachments on the balancing device and raise
to unload the weight.
6. Unload the balancing device with the press tool
in order to make the piston rod and front ear
adjustable when pulling the shaft out.
7. Remove the securing screw from the balancing
device shaft.
8. Apply the puller tool, balancing device shaft to
the shaft 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.
Note! Make sure to keep the balancing device
unloaded by keeping the tap to the press device
closed and using the second hose of the
hydraulic valve to the puller tool.
4.5.4. Replacement of balancing device
Note/Illustration
Attachment hole for the locking screw
is shown in the figure
points, balancing device on page
Art. no. is specified in
equipment on page 287!
Art. no. is specified in
equipment on page 287!
Attachments are shown in the figure
Attachment points, balancing device
on page 287.
Art. no. is specified in
equipment on page 287!
Detailed in section Unloading the
balancing device on page
Shown in the figure Location of
balancing device on page
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 287!
The hole in the frame is shown in the
figure Attachment points, balancing
device on page 287!
Continues on next page
4 Repair
Continued
Attachment
287.
Required
Required
Required
295.
286!
Required
289