ABB IRB 6620 Product Manual page 287

8
9
10
11
12
13
14
15
Product manual - IRB 6620
3HAC027151-001 Revision: W
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.
DANGER
Make sure all safety require-
ments are met when perform-
ing the first test run.
© Copyright 2006-2020 ABB. All rights reserved.
4.7.2 Replacement gearbox axis 2
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 242.
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 150.
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 299.
4 Repair
Continued
281.
180.
Calibrating with Axis
311.
287