ABB IRB 6650S - 200/3.0 Product Manual page 346

4 Repair
4.7.1. Replacement of gearbox, axis 1
Continued
344
Action
9. Refit the bottom plate underneath the robot
base by pushing it into the groove and fitting
the attachment screw.
Note! Direct the bends on the plate
downwards!
If removed, also refit the rear connector plate.
10.
CAUTION!
The base and gearbox weighs 510 kg
together! All lifting equipment must be used
accordingly!
11. Lift the robot base and gearbox 1 to allow
removing the support, base and gear.
12. Secure the base to the mounting site.
13. Refit the complete arm system.
14. Refit the cable support plate inside of the base
and reconnect the cabling in the rear of the
robot base.
15. Perform a leak-down test.
16. Refill the gearbox with oil.
17. Recalibrate the robot.
Note/Illustration
1 screw: M6 x 8.
xx0300000612
• A: Bottom plate
• B: Rear connector plate
• C: Attachment screw
• D: Groove
Detailed in section Orienting and
securing the robot on page
Detailed in section Refitting, arm
system on page 233.
This is a complex task to be performed
with utmost care in order to avoid injury
or damage!
Detailed in section Performing a leak-
down test on page 200.
Detailed in section Filling oil, axis 1 on
page 159.
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration
information on page 365.
Continues on next page
3HAC020993-001 Revision: G
68.