ABB IRB 6620LX Product Manual page 281

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Product manual - IRB 6620LX
3HAC035737-001 Revision: P
Action
Lift the gearbox on to the guide
pins and push it in mounting
position.
Refit the gearbox with its attach-
ment screws.
CAUTION
The upper and lower arms (in-
cl. gearboxes axes 2 and 3)
weighs 455 kg. All lifting
equipment used must be sized
accordingly!
Use a crank in the gearbox in
order to find the holes for the
attachment screws.
Refit the lower arm to the
gearbox axis 2 with its attach-
ment screws.
Refit motor axis 2.
Refit the cable harness, axes
1-3.
Fill the gearbox axis 2 with oil.
Recalibrate the robot.
DANGER
Make sure all safety require-
ments are met when perform-
ing the first test run. These are
further detailed in the section
First test run may cause injury
or damage on page 26.
© Copyright 2009-2018 ABB. All rights reserved.
4.7.2 Replacement gearbox axis 2
Note
M12x60 (24 pcs)
Tightening torque: 120 Nm.
M16x50 (16 pcs)
Tightening torque: 300 Nm.
Detailed in the section Replacement of motor axis 2
on page 241.
Detailed in the section Replacement of cable harness,
lower end (axes 1-2) on page
Detailed in the section Changing oil, axis-2 gearbox
on page 149.
Pendulum Calibration is described in Operating
manual - Calibration Pendulum, enclosed with the
calibration tools.
Axis Calibration is described in
Calibration method on page
General calibration information is included in section
Calibration on page 299.
4 Repair
Continued
189.
Calibrating with Axis
320.
281