Removing The Upper Arm - ABB IRB 6700 Product Manual

Equipment, etc.
Pallet
Guide pin, M12x150
Guide pin, M12x200
24 VDC power supply
Calibration Pendulum toolkit
Standard toolkit
Consumables
Parts needed to be replaced after removal.
Equipment, etc.
Washer, axis 3
Grease
O-ring
Gasket

Removing the upper arm

Use these procedures to remove the upper arm.
Preparations
1
2
3
3HAC044266-001 Revision: -
Action
Remove all equipment fitted to upper arm
and wrist.
Jog the robot into position:
• Axis 1, 2, 3, 4: calibration position
(0°)
• Axis 5: +90°
• Axis 6: +125°
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
© Copyright 2013 ABB. All rights reserved.
Article number Note
Used for putting down removed parts
from robot.
3HAC13056-2 Always use guide pins in pairs!
3HAC13056-3 Always use guide pins in pairs!
- Used to release the motor brakes.
3HAC15716-1
- Content is defined in section
toolkit on page
Art. no.
3HAC038648-002
3HAB3537-1
3HAB3772-111
3HAB3772-110
3HAB3772-110
3HAC033489-001
Note
4 Repair
4.5.1 Replacing the upper arm
Continued
Standard
559.
Note
To be replaced if damaged!
Used to lubricate o-rings.
D=169.5x3
Used on axis-3 motor cover.
D=119x3
Used on axis-4 motor cover.
D=119x3
Used on axis-5 motor cover.
Used on axis-6 motor cover.
Continues on next page
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