ABB IRB 6650S - 200/3.0 Product Manual page 360

4 Repair
4.7.3. Replacement of gearbox, axis 3
Continued
10. Remove the lifting tool.
12. Refit the upper arm with a new sealing, axis 2/3 . Art. no. is specified in
13. Refit the motor.
14. Remove the mechanical stop used to secure the
15. Recalibrate the robot!
358
Action
6. Make sure the o-rings are fitted to the gearbox.
Apply grease to the o-rings to make sure they
stick in their grooves during assembly.
Make sure the o-ring is fitted to the rear of the
gearbox. Apply grease to it to make sure it sticks
in its groove during assembly!
7. Lift the gearbox to its mounting position.
8. Turn the gearbox to align the attachment screw
holes with those in the upper arm.
9. Fit the gearbox onto the guide pins and slide it into
position.
11. Secure the gearbox with 22 of the 24 gearbox
attachment screws.
Remove the guide pins and tighten the remaining
two screws.
upper arm.
Note/Illustration
Art. no. is specified in Required
equipment on page 354!
xx0200000173
• A: O-ring, gearbox axis 3
Make sure the o-rings are seated
properly and the gearbox correctly
oriented!
24 pcs: M12 x 60.
Tightening torque: 115 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in section Screw joints on
page 384 before fitting.
Required
equipment on page 354.
Detailed in section Refitting, upper
arm on page 253.
Detailed in section Refitting, motor
on page 316.
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