ABB IRB 6640 Product Manual page 276

4 Repair
4.4.4. Replacement of upper arm
Continued
10. Remove the cable harness upper arm and place it
11.
12.
13. Raise the lifting equipment to take the weight of the
14. In order to release the brake of the axis 3 motor,
274
Action
6. Upper arm including wrist unit:
Fit one of the pieces included in lifting device, upper
arm to the front attachment for lifting device on the
upper arm.
Upper arm without wrist unit:
Fit the lifting device, upper arm to both attachments
for lifting device.
7. Fasten the lifting tool (chain) onto the lifting eye, the
lifting device and an overhead crane.
8. Drain the oil from gearbox axis 3.
9. Remove the cover on top of the motors, axis 3 and
4 and disconnect all connectors inside the motors.
in a way that it will not be damaged in the
proceeding procedure of removing the upper arm.
CAUTION!
The complete upper arm weighs 380 kg without
any additional equipment fitted! Use a suitable
lifting device to avoid injury to personnel!
NOTE!
For Cleanroom robots apply a protection where the
lifting equipment and roundslings will rub against
the paint of the robot.
In order to prevent from particle emission while
lifting, put for example a 20 mm thick cellular plastic
sheet around the places on the robot where the
lifting equipment may rub against the paint.
upper arm.
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.
Note
Art. no. is specified in Required
equipment on page 273.
Attachment point is shown in the
figure Location of upper arm on
page 272.
NOTE!
The different attachment points,
depends on whether the wrist unit
is mounted or not!
Art. no. is specified in Required
equipment on page 273.
Detailed in section Oil change,
gearbox, axis 3 on page 171.
Detailed in section Removal, cable
harness - upper arm on page
Detailed in section Replacement of
cable harness, Cleanroom on
page 224.
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
Continues on next page
3HAC026876-001 Revision: F
205.