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Product manual - IRB 7600
3HAC022033-001 Revision: V
Action
Use the hoisting block to adjust the tension in the
chain in order to lift the upper arm completely level.
Lift the upper arm and move it to its mounting posi-
tion.
Fit the three washers to be placed beneath the at-
tachment screws.
Insert the attachment screws.
Do not remove the guide pins until the attachment
screws are tightened as detailed below!
Secure the lower arm to gearbox axis 3 with the
upper arm attachment screws .
Remove the guide pins and fit the two remaining
attachment screws. Tighten them as detailed above!
Refit any cabling removed during the removal pro-
cess.
Reconnect all connectors inside motors 3 and 4.
Reconnect connector R2.M5/6 gently at the rear
cable division point.
Be careful not to bend the attachment plate when
fastening the screws!
Refill the gearbox with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run. These are further de-
tailed in the section
First test run may cause injury
or damage on page
31.
© Copyright 2007 - 2018 ABB. All rights reserved.
4.4.3 Replacement of complete upper arm
Note/Illustration
Make sure the washers are not
scarred or pitted in the surface
facing the screw heads. If both
washer sides are damaged, re-
place the washer. Art. no. is spe-
cified in
Required equipment on
page
260.
In some cases, removing the
plastic mechanical stops may be
required before fitting the upper
arm.
If guide pins are removed before
the screws are tightened, the
sealing can be involuntarily
moved into wrong position.
30 pcs: M16 x 50. Tightening
torque: 300 Nm.
Shown in the figure
upper arm on page
Detailed in section
page
192.
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum, enclosed with the cal-
ibration tools.
Axis Calibration is described in
Calibrating with Axis Calibration
method on page
General calibration information is
included in section
page
395.
4 Repair
Continued
Location of
259.
Filling, oil on
408.
Calibration on
263
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