ABB IRB 6640 Product Manual page 301

Removal balancing device, (design 1)
The procedure below details how to remove the balancing device.
3HAC026876-001 Revision: F
Action
1. Remove all equipment, if any, on
or close to the balancing device.
2. For Clean Room robots -
remove the lower end of the
cable harness.
3. Fit the lifting tool with shackle to
the balancing device and raise to
unload the weight.
CAUTION!
The balancing device weights
210 kg! All lifting equipment used
must be sized accordingly!
4. Secure the upper arm using a
lifting sling or using the locking
screw (A) in the frame.
5. Method 1:
Unload the balancing device with
the press tool in order to make
the piston rod and front ear
adjustable when pulling the shaft
out.
Method 2:
Unload the balancing device with
the distance tool in order to make
the piston rod and front ear
adjustable when pulling the shaft
out.
4.5.4. Replacement of balancing device (design 1)
Note
Detailed in section Replacement of cable harness,
Cleanroom on page 224.
xx0900000092
xx0800000249
Art. no. is specified in Required
Method 1: Detailed in section
balancing device using hydraulic press tool. on page
322.
Method 2: Detailed in section
balancing device using distance tool on page 317
4 Repair
Continued
equipment.
Unloading the
Unloading the
Continues on next page
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