ABB IRB 6640 Product Manual page 377

3HAC026876-001 Revision: F
Action
10. Refit the lower arm to the
gearbox axis 2 with its
attachment screws.
11. Refit motor axis 2.
12. Refit the lower end of the cable
harness.
NOTE!
For Cleanroom robots the
procedure is detailed in section
Replacement of cable
harness, Cleanroom on page
224.
13. Fill the gearbox axis 2 with oil. Detailed in the section
14. Recalibrate the robot.
15.
DANGER!
Make sure all safety require-
ments are met when
performing the first test run.
These are further detailed in
the section DANGER - First
test run may cause injury or
damage! on page 41.
4.7.2. Replacement gearbox axis 2
Note
M16x50 (20 pcs)
Tightening torque: 300 Nm.
Detailed in the section Replacement of motor axis 2 on
page 332.
Detailed in the section Replacement of cable harness,
axes 1-6 on page 203.
Oil change, gearbox axis 2 on
page 168.
Calibration is detailed in a separate calibration manual
enclosed with the calibration tools.
General calibration information is included in the
section Calibration information.
4 Repair
Continued
375