ABB IRB 6650S - 200/3.0 Product Manual page 358

4 Repair
4.7.3. Replacement of gearbox, axis 3
Continued
356
Action
2. Secure the upper arm in a horizontal position
using a mechanical stop.
Fit the mechanical stop to the third and final
attachment hole (A), below the fixed mechanical
stop (B) in the upper arm, shown in the figure to
the right.
Tightening torqure: 115 Nm.
3. Remove the motor, axis 3.
4. Remove the upper arm.
5. Remove the sealing, axis 2/3 between the
gearbox and lower arm.
6. Place the upper arm safely on a workbench, in a
fixture or similar.
7. Remove the attachment screws, gearbox.
8. Fit the two guide pins in 180° relation to each
other in the gearbox attachment screw holes.
9. Fit the lifting eye to the gearbox, in one of the
attachment screw holes that attaches the gearbox
to the lower arm (position C in the figure to the
right).
If required, use screws in the holes (A) shown in
the figure to the right to press the gearbox free.
Note/Illustration
Art. no. is specified in Required
equipment on page 354.
xx0300000051
Detailed in section Removal, motor
on page 315.
Note! When removing the motor
axis 3, the brake on axis 3 is
released. Make sure the upper arm
is secured and disabled to move!
Detailed in section Removal, upper
arm on page 251.
On reassembly a new sealing must
be used! Art. no. is specified in
Required equipment on page
Shown in the figure Location of
gearbox on page 354!
Art. no. is specified in Required
equipment on page 354!
Art. no. is specified in Required
equipment on page 354!
xx0200000201
• A: M12 holes for pressing
the gearbox out
• B: Attachment screw holes,
gearbox - upper arm
• C: Attachment screw holes,
gearbox - lower arm
Continues on next page
3HAC020993-001 Revision: G
354.