ABB IRB 6640 Product Manual page 283

10.
11. Apply the lifting tool to the lower arm.
12. Drain the oil from gearbox 2.
13.
14. Raise the tool to unload the lower arm.
15. Remove the lower arm shaft and all additional
16. Remove the attachment screws and washers that
17. Lift the lower arm and place it on a secure
3HAC026876-001 Revision: F
Action
9. Move the lower arm backwards to the lowest
position possible.
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.
CAUTION!
The lower arm weighs 160 kg! All lifting
equipment used must be sized accordingly!
components, as detailed in section
lower arm shaft.
attach the lower arm to the gearbox axis 2.
surface.
4.4.5. Replacement of complete lower arm
Note
The figure shows IRB 6600 but the
position of the lower arm shall be the
same.
xx0300000015
Art. no. is specified in
equipment on page
Detailed in section
gearbox axis 2 on page
Removal,
4 Repair
Continued
Required
279.
Oil change,
168.
Continues on next page
281