ABB IRB 6600 - 175/2.55 User Manual page 457

Step
When performing the first test run after a service activity (repair, installation or maintenance),
it is vital that:
- all the service tools and other foreign objects are removed from the manipulator!
- all normal safety equipment is installed properly, e.g. TPU enabling device.
- all personnel is standing at a safe distance from the manipulator, i.e. out of its reach behind
any safety fences, etc.
- special attention is paid to the function of the part previously serviced.
3HAC 16247-1
Action
4. Look through the empty mounting hole of
motor 1 to assist in aligning the assembly
during refitting of the arm system.
The guiding pin in the gearbox must be fit-
ted to the guiding hole of the frame.
Lower the arm system with guidance from
the guide pins previously fitted to the
frame.
5. Refit 22 of the 24 attachment screws
before the arm system is completely low-
ered.
6. Remove the guide pins and secure the arm
system to the base with its 24 attachment
screws and washers.
7. Refit the block for calibration at the bottom
of the frame.
8. Refit the motor axis 1.
9. Refill the gearbox axis 1 with lubricating oil. Detailed in "Oil change, gearbox axis
10. Recalibrate the robot.
A
3 Repair activities, manipulator
3.1.4 Refitting of complete arm system
Note/Illustration
This is a complex task to be performed
with utmost care in order to avoid injury
or damage!
Shown in the figure Location of arm
system on page 39!
M12 x 70, 12.9 quality UNBRAKO,
tightening torque: 115 Nm.
Reused screws may be used, provid-
ing they are lubricated as detailed in
Screw joints on page 15 before fitting.
Shown in the figure Location of arm
system on page 39!
Detailed in section Refitting of motor,
axis 1 on page 95.
1" in the Maintenance Manual.
Detailed in "Calibration" in the Installa-
tion Manual.
41