ABB IRB 6640 Foundry Prime Product Manual page 277

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Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
Action
Upper arm including wrist unit:
Fit one of the pieces included in lifting accessory,
upper arm to the front attachment for lifting access-
ory on the upper arm.
Upper arm without wrist unit:
Fit the lifting accessory, upper arm to both attach-
ments for lifting accessory.
Fasten the lifting tool (chain) onto the lifting eye,
the lifting accessory and an overhead crane.
Drain the oil from gearbox axis 3.
Remove the cover on top of the motors, axis 3 and
4 and disconnect all connectors inside the motors.
Remove the cable harness upper arm and place it
in a way that it will not be damaged in the proceed-
ing procedure of removing the upper arm.
CAUTION
The complete upper arm weighs 380 kg without
any additional equipment fitted! Use a suitable
lifting accessory to avoid injury to personnel!
Raise the lifting equipment to take the weight of
the upper arm.
In order to release the brake of the axis 3 motor,
connect the 24 VDC power supply.
Note
When releasing the brake, the position of the upper
arm is adjusted to the position given by the lifting
equipment.
Remove the axis-3 motor.
Carefully remove the attachment screws and
washers, upper arm.
Lift the upper arm and place it on a secure surface.
Make sure the lift is done completely level! In case
of necessary adjustments, use the shortening loops
on the lifting tool (chain), but make sure to place
the chain the right way through the loops!
Remove the sealing, axis 2/3 from the lower arm.
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.4.4 Replacement of upper arm
Continued
Note
Art. no. is specified in Required
equipment on page 274.
Attachment point is shown in the
figure Location of upper arm on
page 273.
Note
The different attachment points,
depends on whether the wrist unit
is mounted or not!
Art. no. is specified in Required
equipment on page 274.
Detailed in section Changing oil,
axis-3 gearbox on page
Detailed in section Removing the
cable harness - upper arm on
page 225.
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
See Replacing motor axis 3 on
page 354.
Shown in the figure Location of
upper arm on page 273.
Shown in the figure Location of
upper arm on page 273.
Continues on next page
176.
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