ABB IRB 660 Product Manual page 194

4 Repair
4.4.3 Replacement of upper arm
Continued
Removal, upper arm
The procedure below details how to remove the upper arm.
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Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
Remove all equipment fitted to the turning
disk.
Move the upper arm to a horizontal position.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Secure the upper arm with roundslings in
an overhead crane.
Remove the cable harness in the upper arm.
CAUTION
The complete upper arm with weighs 170
kg (without any additional equipment fitted).
Use a suitable lifting accessory to avoid in-
jury to personnel!
Raise the lifting equipment to take the
weight of the upper arm.
Remove the balancing device.
Remove the linkage.
Remove the parallel rod.
© Copyright 2006-2020 ABB. All rights reserved.
Note
Note
Detailed in section
Detailed in section Replacing the balan-
cing device on page 236
Detailed in section Replacement of linkage
- upper rod on page 201
Detailed in section Replacing the linkage
- lower rod on page 205
Detailed in section Replacement of linkage
- link on page 209
Detailed in section Replacing the parallel
rod on page 216
Product manual - IRB 660
3HAC025755-001 Revision: W