ABB IRB 6620 Product Manual page 292

4 Repair
4.7.2 Replacement gearbox axis 2
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Action
Fit the lifting tool on the upper
arm and secure the robot in an
overhead crane and lift it care-
fully up to its mounting posi-
tion.
Use a crank in the gearbox in
order to find the holes for the
attachment screws.
Refit the lower arm to the
gearbox axis 2 with its attach-
ment screws.
Refit motor axis 2.
Refit the cable harness, axes
1-3.
Fill the gearbox axis 2 with oil.
Recalibrate the robot.
© Copyright 2006-2018 ABB. All rights reserved.
Note
Art. no. is specified in Required equipment on page
xx0600003099
• A : Lifting tool
• B : Roundsling
• C : Lifting chain
• D : Hoisting block
M16x50 (16 pcs)
Tightening torque: 300 Nm.
Detailed in the section Replacement of motor axis 2
on page 247.
Detailed in the section Replacement of cable harness,
lower end (axes 1-2) on page
Detailed in the section Changing oil, axis-2 gearbox
on page 154.
Pendulum Calibration is described in Operating
manual - Calibration Pendulum, enclosed with the
calibration tools.
Axis Calibration is described in
Calibration method on page
General calibration information is included in section
Calibration on page 305.
286.
185.
Calibrating with Axis
319.
Product manual - IRB 6620
3HAC027151-001 Revision: T