ABB IRB 6660 Product Manual page 236

4 Repair
4.4.3 Replacement of upper arm
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Action
Fit the o-ring (L) on the sealing assembly
(J) and refit the sealing assembly on the
shaft.
Apply locking liquid on the lock nut (K) and
refit it.
The refit the axis 2 side in the same order
with the exception of the lock nut (K).
Apply locking liquid on the lock nut (K) and
refit it.
Note
The order of the tightening torques is very
important!
Note
The fitting of the lock nut on axis 2 is per-
formed in three steps:
1 Fit the lock nut with a tightening
torque of 300 Nm.
2 Unscrew the lock nut.
3 Fit the lock nut once again. This time
with a tightening torque of 90 Nm.
Apply locking liquid in the holes for the set
screws (C) and fit the screws.
Wipe residual grease from the shafts.
Refit the parallel rod.
Refit the cable harness, upper end.
(Not applicable to the robot variant IRB
6660 - 205/1.9! )
Refit the balancing device.
Recalibrate the robot.
© Copyright 2007-2018 ABB. All rights reserved.
Note
Shown in the figure View of the assembly
of the upper arm components on page
Shown in the figure View of the assembly
of the upper arm components on page
Loctite 243.
Tightening torque 90 Nm.
Follow the steps for refitting shaft axis 3
above.
Shown in the figure View of the assembly
of the upper arm components on page
Shown in the figure View of the assembly
of the upper arm components on page
Loctite 243.
Tightening torque the first time: 300 Nm
Tightening torque the second time: 90
Nm
Shown in the figure View of the assembly
of the upper arm components on page 229
Loctite 243.
Tightening torque: 35 Nm.
Detailed in section Replacing the parallel
rod on page 238
Detailed in section Replacement of cable
harness, upper end on page 196
Detailed in section Replacing the balan-
cing device on page 266
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section Calibration on page
Product manual - IRB 6660
3HAC028197-001 Revision: S
229.
229.
229.
229.
Calibrating
352.
341.