ABB IRB 660 Product Manual page 228

4 Repair
4.4.8 Replacing the complete lower arm
Continued
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Action
Secure the lower arm by fitting a lock screw.
CAUTION
Tighten by hand!
Refit the axes 2 and 3 gearboxes.
Refit the axes 2 and 3 motors.
Refit the complete upper arm.
Refit the cable harness.
Refit the parallel rod.
Refit the balancing device.
Refit the linkage.
Remove the lock screw.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run.
© Copyright 2006-2020 ABB. All rights reserved.
Note
Dimension is specified in
equipment on page 221.
xx1000001101
See Replacing the gearbox, axes 2-
3 on page 287.
See Replacing motors, axes 2 and 3
on page 258.
See Replacement of upper arm on
page 191.
Also see
See Replacing the parallel rod on
page 216
Also see
See Replacement of linkage - upper
rod on page 201
See Replacing the linkage - lower rod
on page 205
See Replacement of linkage - link on
page 209
Pendulum Calibration is described in
Operating manual - Calibration Pen-
dulum, enclosed with the calibration
tools.
Axis Calibration is described in
rating with Axis Calibration method
on page 315.
General calibration information is in-
cluded in section Calibration on
page 305.
Product manual - IRB 660
3HAC025755-001 Revision: W
Required
Calib-