ABB IRB 6700 Product Manual page 519

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3HAC044266-001 Revision: -
Action
Fit two guide pins in opposite M12 holes.
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
CAUTION
The complete upper arm (including the
wrist) weighs 200 kg.
All lifting accessories used must be sized
accordingly!
Attach the lifting accessories, if not already
fitted.
Lift the upper arm and put it on the guide
pins.
In order to release the brakes, connect the
24 VDC power supply.
Connect to R2.MP3-connector:
• + = pin 2
• - = pin 5
Use the rotation tool and rotate the axis-3
motor to find the correct position for the
guide pins in the lower arm.
Insert all nine M16 screws and 25 of the 27
M12 screws.
Secure the upper arm to the lower arm with
its attachment screws now fitted.
© Copyright 2013 ABB. All rights reserved.
4.8.3 Replacing the axis-3 gearbox
Note
Guide pin, M12x150: 3HAC13056-2
Guide pin, M12x200: 3HAC13056-3
Always use guide pins in pairs!
xx1300000659
See Attaching the lifting accessories on
page 257.
24 VDC power supply
Rotation tool
xx1300000747
M16, tightening torque: 280 Nm
M12, tightening torque: 115 Nm
Continues on next page
4 Repair
Continued
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