ABB IRB 6640 Product Manual page 285

10. Remove the guidings and secure the two
11. Remove the lifting tool from the lower arm.
12. Refit and restore the balancing device.
13. Refit the upper arm.
14. Perform a leak-down test.
15. Refill the gearbox with oil.
16. Refit and reconnect all cables inside the lower
17. Recalibrate the robot!
3HAC026876-001 Revision: F
Action
7. In case the hole pattern of the lower arm and
the gearbox axis 2 does not match, use power
supply to release the motor axis 2 brakes and
rotate the pinion and gear with the rotational
tool.
8. Disconnect the power supply, if used.
9. Secure the lower arm with 18 of the
20attachment screws and washers in gearbox,
axis 2.
remaining screws as detailed above!
arm.
Resecure any cable attachments.
4.4.5. Replacement of complete lower arm
Note
Connect power supply to connector
R2.MP2
• +: pin 2
• -: pin 5
xx0200000165
The rotation tool (A) is used beneath
the motor cover, directly on the motor
shaft as shown in figure above.
Art. no. is specified in
equipment on page
20 pcs: M16 x 50, tightening torque:
300 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in the section
page 405 before fitting.
Detailed in section
balancing device.
Detailed in section
on page 275.
Detailed in section
down test on page
Detailed in section
axis 2 on page 168.
Detailed in section
harness, axes 1-4 on page
Detailed in section
cable harness, Cleanroom on page
224.
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section
information.
Continues on next page
4 Repair
Continued
Required
279.
Screw joints on
Refitting of
Refitting, upper arm
Performing a leak-
196.
Oil change, gearbox
Refitting, cable
241.
Replacement of
Calibration
283