ABB IRB 6700Inv Series Product Manual page 370

4 Repair
4.5.5 Replacing the lower arm
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370
Action
If the axis-3 motor is installed to the upper
arm:
Connect the 24 VDC power supply, to re-
lease the brakes.
Connect to R2.MP3-connector:
• + = pin 2
• - = pin 5
Use the rotation tool and rotate the axis-3
motor to find the correct position for the
guide pins in the lower arm.
Disconnect and remove the 24 VDC power
supply after finding the position.
If the axis-3 motor is not installed to the
upper arm:
Use the pinion to rotate the axis-3 gearbox
to find the correct position for the guide
pins in the lower arm.
Insert and tighten 20 of the 22 M16 screws.
Remove the guide pins and fit the two re-
maining screws.
Secure the upper arm by tightening the at-
tachment screws.
Refit the axis-3 synchronization mark plate.
© Copyright 2017 - 2020 ABB. All rights reserved.
Note
24 VDC power supply
Rotation tool
Pinion: 3HAC067545-001
xx1700000460
M16, tightening torque: 300 Nm
xx1700000694
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L