ABB IRB 6640 Product Manual page 282

4 Repair
4.4.5. Replacement of complete lower arm
Continued
Removal, lower arm
The procedure below details how to remove the complete lower arm.
280
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and
SMB.
2. Remove the upper arm.
3. Disconnect and remove the cables from inside
the lower arm.
Release any cable attachments.
4. Apply the shackle to the balancing device and
raise to unload the weight of the device.
5. Unload the balancing device in order to make the
piston rod and front ear adjustable when pulling
the front shaft out.
6. Remove the securing screw from the balancing
device front shaft.
7. Apply the puller tool, balancing device shaft to the
shaft of the balancing device, through the hole in
the frame.
The shaft has a M20 thread diameter, as shown
in the figure to the right.
Pull the shaft out using the puller tool and the
hydraulic pump.
8. Lower the balancing device until it rests safely
against the bottom of the frame.
Note
Detailed in section Removal, upper
arm on page 273.
Detailed in section Replacement of
cable harness, axes 1-6 on page
203.
NOTE!
For Cleanroom robots it is necessary
to remove the complete cable
harness from base, frame and lower
arm. The removal procedure is
detailed in section Replacement of
cable harness, Cleanroom on page
224.
Art. no. is specified in Required
equipment on page 279.
Attachment is shown in the figure
Location of lower arm on page
Method 1 detailed in section
Unloading the balancing device
using hydraulic press tool. on page
322
Method 2 detailed in section
Unloading the balancing device
using distance tool on page
Shown in the figure Location of lower
arm on page 279.
Art. no. is specified in Required
equipment on page 279.
NOTE!
The dimension of the shaft puller tool
is M20. Do not mix up with the shaft
press tool used when mounting the
shaft.
Continues on next page
3HAC026876-001 Revision: F
279.
317.