ABB IRB 6700 Product Manual page 258

4 Repair
4.5.1 Replacing the upper arm
Continued
6
7
8
Removing the upper arm
1
2
3
Continues on next page
258
Action
In case of necessary adjustments, use the
shortening loops on the lifting accessory
(chain), making sure to place the chain the
right way through the loops!
Release the brakes in order to find the most
level lifting position of the upper arm as
possible, before lifting.
In order to release the brakes, connect the
24 VDC power supply.
Action
Remove two attachment screws (M12) in
opposite holes and replace them with guide
pins.
(Screws that secure the lower arm to the
axis-3 gearbox.)
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
Remove all but one of the remaining attach-
ment screws.
Only valid when replacing the axis-3
gearbox, with the cable harness still
partly fitted!
Put two pallets on the floor, in front of the
robot, as shown in the figure.
Note
This position is only a recommendation. If
it is not possible to put the upper arm close
enough to the robot and keep the cable
harness partly fitted, it may be necessary
to remove the cable harness and
DressPack in the upper arm and wrist first.
© Copyright 2013 ABB. All rights reserved.
Note
24 VDC power supply
Note
Guide pin, M12x150: 3HAC13056-2
Guide pin, M12x200: 3HAC13056-3
Always use guide pins in pairs!
xx1300000659
xx1300000747
Pallet
3HAC044266-001 Revision: -