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Product manual - IRB 6650S
3HAC020993-001 Revision: AG
Action
Turn the gearbox to align the at-
tachment screw holes with those
in the upper arm.
Fit the gearbox onto the guide
pins and slide it into position.
Remove the lifting tool.
Secure the gearbox with 22 of
the 24 gearbox attachment
screws.
Remove the guide pins and
tighten the remaining two
screws.
Refit the upper arm with a new
sealing, axis 2/3 .
Refit the motor.
Recalibrate the robot!
DANGER
Make sure all safety require-
ments are met when performing
the first test run.
© Copyright 2004-2022 ABB. All rights reserved.
4.7.3 Replacement of gearbox, axis 3
Note
Make sure the o-rings are seated properly and the
gearbox correctly oriented!
24 pcs: M12 x 60.
Tightening torque: 115 Nm.
Reused screws may be used, providing they are
lubricated as detailed in section
page 411
before fitting.
Art. no. is specified in
Required equipment on
page
353.
Detailed in section
Refitting, upper arm on page
Detailed in section
Refitting, motor on page
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
367.
4 Repair
Continued
Screw joints on
253.
314.
Calibrating with Axis
379.
359
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