ABB IRB 6620 Product Manual page 226

4 Repair
4.4.4 Replacement of lower arm
Continued
8
9
10
Refitting
The procedure below details how to refit the lower arm.
1
2
3
4
5
6
7
8
9
10
11
Continues on next page
226
Action
CAUTION
The lower arm weighs 75 kg
(gearboxes axes 2-3 ex-
cluded)!
Remove the attachment
screws and washers securing
the lower arm to gearbox axis
2.
Remove the lower arm.
Action
Secure the lower arm with a roundsling and lift
it to its mounting position.
CAUTION
The lower arm weighs 75 kg (gearboxes axes
2-3 excluded)!
Make sure the o-ring is fitted to the gearbox.
Lightly lubricate the o-ring with grease.
Fit guiding pins in two of the holes in gearbox
axis 2.
Lift the lower arm on to the guiding pins.
Refit the attachment screws and washers secur-
ing the lower arm to gearbox axis 2.
Remove the guiding pins.
Secure the upper arm with a roundsling and lift
it to its mounting position.
Refit the upper arm.
Refit the cable harness axes 3-6.
Recalibrate the robot.
© Copyright 2006-2020 ABB. All rights reserved.
Note
Shown in the figure Location of lower arm on page
Note
Shown in the figure
arm on page
M16x50, quality 12.9 gleitmo (16 pcs).
Tightening torque: 300 Nm.
Detailed in the section
of the upper arm on page
Detailed in the section
of cable harness, upper end on
page 187.
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration
tools.
Axis Calibration is described in
rating with Axis Calibration method on
page 311.
General calibration information is in-
cluded in section
page 299.
223.
Location of lower
223.
Replacement
217.
Replacement
Calib-
Calibration on
Product manual - IRB 6620
3HAC027151-001 Revision: W