Arm System; Upper Arm - ABB IRB 6400R Product On-Line Manual

Repairs

6 Arm System

6.1 Upper Arm

Refer to foldouts 2:1, 2:3, 2:8,
Dismounting:
IMPORTANT! Secure axis 3 with two extra mechanical stops, so that the balanc-
ing weight for axis 3 cannot fall down.
1. Dismount balancing units <2:1/5> as described in 5.1, Dismounting balancing
unit or 5.2, Replacing guide ring, balancing unit.
2. Remove the cables and air hose inside the upper arm as in 7.2, Robot Harness /
Customer Harness
3. Attach a hoist and the lifting device (3HAC 6878-1) to the upper arm. See Fig-
ure 10
.
Figure 10 Lifting the upper arm.
4. Remove the parallel arm<2:1/3> see 6.5, Parallel Arm.
5. Remove the KM nut (1) on each shaft. See Figure 11.
6. Remove the stop screws (2) in the lower arm. See Figure 11.
7. Remove the protective plates <2:3/10> on the inner side of the shaft, unscrew
the shafts (3). The bearing is pressed out with the shaft. See Figure 11.
Note! Be careful with the threads on the shafts.
8. Lift the upper arm away.
Product Manual IRB 6400R
Arm System
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