ABB IRB 6620LX Product Manual page 216

4 Repair
4.4.3 Replacement of the upper arm
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Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the ro-
bot
• air pressure supply to the robot
Before entering the robot working area.
Drain the oil from gearbox axis 3.
Raise the upper arm to a position where it
is parallel to the floor by releasing the brake
of the axis 3 motor.
In order to release the brake of the axis 3
motor, connect the 24 VDC power supply.
Note! When releasing the brake, the posi-
tion of the upper arm can change suddenly!
Perform the procedure carefully!
CAUTION
The complete upper arm (incl. gearbox axis
3) weighs 282 kg without any additional
equipment fitted! Use a suitable lifting
device to avoid injury to personnel!
Fit the lifting tool on the upper arm as de-
tailed in the enclosed instructions.
Also fit a hoisting block to the front which
is used to adjust the balance of the upper
arm in order to lift it completely level.
Remove the cable harness, axes 3-6.
© Copyright 2009-2018 ABB. All rights reserved.
Note
Detailed in the section Changing oil, axis-
3 gearbox on page 152.
Connect to connector R2.MP3:
• + : pin 2
• -: pin 5
Art. no. is specified in Required equipment
on page 214.
xx0600003102
• A : Lifting tool
• B : Roundsling
• C : Lifting chain
• D : Hoisting block
Detailed in the section Replacement of
cable harness, upper end on page
Product manual - IRB 6620LX
3HAC035737-001 Revision: P
195.