ABB IRB 6640 Foundry Prime Product Manual page 285

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Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
Action
In case the hole pattern of the lower arm and
the gearbox axis 2 does not match, use power
supply to release the motor axis 2 brakes and
rotate the pinion and gear with the rotational
tool.
Disconnect the power supply, if used.
Secure the lower arm with 18 of the 20attach-
ment screws and washers in gearbox, axis 2.
Remove the guidings and secure the two re-
maining screws as detailed above!
Remove the lifting tool from the lower arm.
Refit and restore the balancing device.
Refit the upper arm.
Perform a leak-down test.
Refill the gearbox with oil.
Refit and reconnect all cables inside the lower
arm.
Resecure any cable attachments.
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 219
Recalibrate the robot!
© Copyright 2011-2018 ABB. All rights reserved.
4.4.5 Replacement of complete lower arm
Note
Connect power supply to connector
R2.MP2
• +: pin 2
• -: pin 5
xx0200000165
The rotation tool (A) is used beneath
the motor cover, directly on the motor
shaft as shown in figure above.
Art. no. is specified in
ment on page 281.
20 pcs: M16 x 50, tightening torque:
300 Nm.
Reused screws may be used, providing
they are lubricated as detailed in sec-
tion Screw joints on page 461
ting.
See section Replacing the balancing
device (design 1) on page
See section Refitting, upper arm on
page 278.
See section Performing a leak-down
test on page 214.
See section Changing oil, axis-2 gear-
box on page 173.
Detailed in section
harness, axes 1-6 on page
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
General calibration information is in-
cluded in section
tion on page 439.
Continues on next page
4 Repair
Continued
Required equip-
before fit-
302.
Replacing cable
222.
Calibration informa-
285