ABB IRB 6600 - 175/2.55 User Manual page 550

3 Repair activities, manipulator
3.6.3 Removal of gearbox axis 2
Step
134
Action
1. Remove any equipment fitted to the turning
disk.
2. Run the robot to the calibration position. The
upper arm can be directed in three different
ways, shown in the figure to the right.
The lowered position, as in figure A, is rec-
ommended as it gives the least load on the
tool.
3. If the manipulator is fitted with moveable
mechanical stops on axis 2 (not stock equip-
ment), these must be removed at this point.
The attachment holes of the mechanical
stops are used to attach the fixture, lower
arm.
4. The locking screw for the lower arm is
attached to the fixture tool, remove it from
there (positioned as A in figure below).
Secure the lower arm to the frame by insert-
ing the locking screw into a specific attach-
ment hole.
5. Fit the fixture, lower arm to prevent the lower
arm from falling.
• Make sure that both adjusters (B) on
the fixture are screwed back.
• Align the fixture with the frame and
lower arm.
• Tighten the four M16 bolts (C) on the
inside of the frame, in attachment
holes , with tightening torque: 220
Nm.
• Screw in the two adjusters (B) until
they rest against the flats on the
lower arm. Tighten by hand.
• Lock, using the two ring nuts (D).
• Tighten the two M12 bolts (E) in the
attachment holes, fixture lower arm
with tightening torque: 91 Nm.
A
Note/Illustration
A
B
C
xx0200000260
Art. no. specified in Required equip-
ment on page 133!
Shown in the figure Location of gear-
box on page 132!
Art. no. specified in Required equip-
ment on page 133!
Attachment holes for the fixture are
shown in the figure Location of gear-
box on page 132!
Make sure the fixture is pressed
tightly against the lower arm before
securing with screws!
E
A
B
D
C
xx0200000261
• A: Locking screw, lower arm
• B: Adjusters
• C: M16 bolts (4 pcs)
• D: Ring nuts (2 pcs)
• E: M12 bolts (2 pcs)
3HAC 16247-1