ABB IRB 6600 - 175/2.55 User Manual page 476

3 Repair activities, manipulator
3.2.6 Refitting of upper arm
Step
60
Action
6. Fasten the lifting tool (chain) onto the lift-
ing eye, the lifting device and an overhead
crane.
7. Lift the upper arm and run to its mounting
position.
Make sure the lift is done completely level!
8. Fit in the gearbox attachment holes with
the attachment holes on the lower arm
with the guide pins.
It may be necessary to turn the gear by
rotating the motor pinion with a rotation
tool, motor beneath the motor cover.
9. Fit the three washers to be placed
beneath the attachment screws.
10. Insert 31 of the 33 attachment screws,
upper arm into the attachment holes in
the lower arm.
Do not remove the guide pins until the
attachment screws are tightened as
detailed below.
11. Secure the lower arm to gearbox axis 3,
with the attachment screws.
12. Remove the guide pins and fit the two
remaining attachment screws. Tighten
them as detailed above!
13. Disconnect the brake release voltage and
remove the rotation tool from the motor.
14. Remove the lifting devices.
15. Refit any cabling removed during the
removal process.
16. Reconnect all connectors inside motors,
axis 3 and 4. Refit the motor covers.
17. Reconnect connector R2.M5/6 gently at
the cable harness division point, with 2
screws, M6.
Be careful not to bend the attachment
plate when fastening the screws!
A
Note/Illustration
Art. no. specified in Required equip-
ment on page 58!
Art. no. specified in Required equip-
ment on page 58!
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in figure above.
• A: Rotation tool
Shown in the figure Location of upper
arm on page 57!
Shown in the figure Location of upper
arm on page 57!
Removing the plastic mechanical stops
may be required before fitting the upper
arm.
If guide pins are removed before the
screws are tightened, the sealing can
be involuntarily moved into wrong posi-
tion.
33 pcs: M12 x 50; 12.9 quality
UNBRAKO, tightening torque: 120 Nm.
Reused screws may be used, providing
they are lubricated as detailed in Screw
joints on page 15 before fitting.
3HAC 16247-1
A