ABB IRB 6600 - 175/2.55 User Manual page 488

3 Repair activities, manipulator
3.3.2 Refitting of complete lower arm
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.
72
Action
23. Refit and restore the balancing device.
24. Refit the upper arm.
25. Perform a leak-down test.
26. Refill the gearbox with oil.
27. Refit and reconnect all cables inside the
lower arm.
Resecure any cable attachments.
28. Recalibrate the robot!
A
Note/Illustration
Detailed in section Refitting of balancing
device on page 85.
Detailed in section Refitting of upper arm
on page 57.
Detailed in section Performing a leak-
down test on page 21.
Detailed in section "Oil change, gearbox
axis 2" in the Maintenance Manual.
Detailed in section Refitting of cable har-
ness on page 30.
Detailed in "Calibration" in the Installation
Manual.
3HAC 16247-1