ABB IRB 6640 Product Manual page 260

4 Repair
4.3.7. Replacement of complete arm system
Continued
10. Remove the guide pins and secure the arm
11. Refit the calibration plate at the bottom of the
12. Refit the motor axis 1.
13. Refit the cabling in the base.
14. Perform a leak-down test of the gearbox axis
15. Refill the gearbox axis 1 with lubricating oil. Detailed in section
16. Recalibrate the robot.
258
Action
9. Refit 14 of the 16 attachment screws before
the arm system is completely lowered.
system to the base with its 16attachment
screws and washers.
frame.
1.
Note
NOTE!
Use a torque wrench with a holder for bits
recommended in Required equipment on
page 251.
Shown in the figure Location of arm
system on page 250.
M12 x 80, 12.9 quality gleitmo. Tightening
torque: 105 Nm.
Reused screws may be used, providing
they are lubricated as detailed in the
section Screw joints on page 405
fitting.
xx0700000380
Parts:
• A: Calibration plate
Detailed in section Replacement of motor,
axis 1 on page 328.
Detailed in section Replacement of cable
harness, axes 1-6 on page
Detailed in section Replacement of cable
harness, Cleanroom on page
Detailed in section Performing a leak-
down test on page 196.
Oil change, gearbox
axis 1 on page 165.
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration infor-
mation.
Continues on next page
3HAC026876-001 Revision: F
before
203.
224.