ABB IRB 6660 Product Manual page 326

4 Repair
4.7.2 Replacing the gearbox, axes 2- 3
Continued
1
2
3
4
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326
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
When removing axis 2 gearbox: Run the
axis 2 to -42° and all other axes to 0° (cal-
ibration position).
When removing axis 3 gearbox: Run the
axis 2 to -40°, axis 3 to +15° and all other
axes to 0°.
When removing axis 2 gearbox: Remove
all screws in the lower screw area on the
inside of the lower arm (7 pcs M12, 2 pcs
M16). See figure.
When removing axis 3 gearbox: Remove
all screws in the upper front screw area and
three screws in the upper back area.
Run axis 2 to 0°.
© Copyright 2007-2018 ABB. All rights reserved.
Note
Axis 2:
xx1100000623
Axis 3:
xx1100000624
Product manual - IRB 6660
3HAC028197-001 Revision: S