ABB IRB 6620 Product Manual page 225

Removal
The procedure below details how to remove the lower arm.
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Product manual - IRB 6620
3HAC027151-001 Revision: W
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 2006-2020 ABB. All rights reserved.
4.4.4 Replacement of lower arm
Note
xx0600003125
Detailed in the section Replacement of cable harness,
upper end on page 187.
Detailed in the section Replacement of the upper arm
on page 217.
4 Repair
Continued
Continues on next page
225