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Product manual - IRB 6650S
3HAC020993-001 Revision: AG
Action
Secure the lower arm with 16 of the 18attach-
ment screws and washers in gearbox, axis 2.
Remove the guidings and secure the two re-
maining screws as detailed above!
Refit the lower arm shaft and all additional
components, as detailed in section
ment of lower arm shaft on page
DANGER
Handling the tool incorrectly will cause serious
injury.
Read and follow enclosed user instructions for
the tool.
Remove the lifting tool from the lower arm.
Refit and restore the balancing device.
Refit the upper arm.
Perform a leak-down test.
Refill the gearbox with oil.
Refit and reconnect all cables inside the lower
arm.
Resecure any cable attachments.
Recalibrate the robot!
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2004-2022 ABB. All rights reserved.
4.4.4 Replacement of complete lower arm
Note
18 pcs: M16 x 50, tightening torque:
300 Nm.
Reused screws may be used, providing
they are lubricated as detailed in sec-
tion
Screw joints on page 411
ting.
Shown in the figure
ents, lower arm on page
Replace-
266.
See section
device on page
See section
page
253.
See section
test on page
See section
box on page
Detailed in section
harness, axes 1-6 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
379.
General calibration information is in-
cluded in section
page
367.
4 Repair
Continued
before fit-
Internal compon-
256.
Replacing the balancing
288.
Refitting, upper arm on
Performing a leak-down
190.
Changing oil, axis-2 gear-
156.
Replacing cable
198.
Calib-
Calibration on
265
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