ABB IRB 6620 Product Manual page 230

4 Repair
4.4.4 Replacement of lower arm
Continued
Removal
The procedure below details how to remove the lower arm.
1
2
3
4
5
6
7
Continues on next page
230
Action
Decide which calibration
routine to use, and take ac-
tions accordingly prior to begin-
ning the repair procedure.
Move the robot to the position
shown in the figure to the right.
DANGER
Turn off all:
• electric power supply to
the robot
• hydraulic pressure sup-
ply to the robot
• air pressure supply to
the robot
Before entering the robot
working area.
Remove the cable harness
axes 3-6.
Let the cable harness hang
loose, without it getting dam-
aged in the proceeded removal
procedure.
Remove the upper arm.
Secure the lower arm with a
roundsling in an overhead
crane.
© Copyright 2006-2018 ABB. All rights reserved.
Note
xx0600003125
Detailed in the section Replacement of cable harness,
upper end on page 192.
Detailed in the section Replacement of the upper arm
on page 222.
Product manual - IRB 6620
3HAC027151-001 Revision: T