ABB IRB 6700 Product Manual page 318

4 Repair
4.5.4 Replacing the lower arm
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318
Action
Fit two guide pins in opposite holes.
CAUTION
The lower arm weighs 135 kg.
All lifting accessories used must be sized
accordingly!
Attach the lifting accessory to the lower
arm.
Wipe clean all contact surfaces.
Lift the lower arm onto the guide pins and
slide it into position.
In case the hole pattern of the lower arm
and gearbox does not match:
• Remove the motor cover.
• Apply the rotation tool on the motor
shaft.
• Connect the 24 VDC power supply.
• Release the brakes.
• Rotate pinion and gear with the rota-
tional tool untill the holes matches.
Connect 24 VDC the power supply to con-
nector R2.MP2:
• + = pin 2
• - = pin 5
© Copyright 2013 ABB. All rights reserved.
Note
Guide pin, M16x150: 3HAC13120-2
xx1300000788
Rotation tool
24 VDC power supply
xx1300000819
3HAC044266-001 Revision: -