ABB IRB 6620 Product Manual page 291

Refitting
The procedure below details how to refit gearbox axis 3.
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Product manual - IRB 6620
3HAC027151-001 Revision: W
Action
Make sure the o-ring is fitted to the gearbox.
Lightly lubricate the o-ring with grease.
CAUTION
The gearbox weighs 51 kg! All lifting equipment
used must be sized accordingly!
Fit a lifting tool in the uppermost hole of the
gearbox and secure it with a roundsling.
Fit two guide pins in two of the attachment
holes, parallel to each other.
Lift the gearbox on to the guide pins and push
it to its mounting position.
Refit the gearbox, while the upper arm is resting
on its side on the floor.
Refit the upper arm.
Fill the gearbox axis 3 with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run.
© Copyright 2006-2020 ABB. All rights reserved.
4.7.3 Replacement of gearbox axis 3
Note
xx0600003127
• A : O-ring 3HAB 3772-92
Art. no. is specified in
equipment on page 288.
Detailed in the section
of the upper arm on page
Detailed in the section
axis-3 gearbox on page
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 Calibration on
page 299.
4 Repair
Continued
Required
Replacement
217.
Changing oil,
153.
Calib-
291