ABB IRB 6640 Product Manual page 383

10. Secure the gearbox with 22 of
12. Refit the motor.
13. Recalibrate the robot!
14.
3HAC026876-001 Revision: F
Action
8. Fit the gearbox onto the guide
pins and slide it into position.
9. Remove the lifting tool.
the 24 gearbox attachment
screws.
Remove the guide pins and
tighten the remaining two
screws.
11. Refit the upper arm with a new
sealing, axis 2/3 .
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.
4.7.3. Replacement of gearbox, axis 3
Note
Make sure the o-rings are seated properly and the
gearbox correctly oriented!
24 pcs: M12 x 60.
Tightening torque: 115 Nm.
Reused screws may be used, providing they are
lubricated as detailed in the section
page 405 before fitting.
Art. no. is specified in Required equipment on page
377.
Detailed in section Refitting, upper arm on page
Detailed in section Refitting, motor on page
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
Screw joints on
275.
340.
381