ABB IRB 6640 - 180/2.55 Product Manual page 266

4 Repair
4.4.4. Replacement of upper arm
Continued
264
Action
3. Upper arm including wrist unit:
Fit the lifting eye, VLBG M12 to the attachment
hole, lifting eye on the wrist unit.
4. Upper arm including wrist unit:
Fit one of the pieces included in the lifting
device, upper arm to the front attachment for
the lifting device on the upper arm.
Upper arm without wrist unit:
Fit the lifting device, upper arm to the both
attachments for the lifting device on the upper
arm.
5. In order to release the brake of the axis 3 motor,
connect the 24 VDC power supply, after
removing the motor cover.
6. Fasten the lifting tool (chain) onto the lifting eye,
the lifting device and an overhead crane.
7.
CAUTION!
The complete upper arm weighs 380 kg without
any additional equipment fitted! Use a suitable
lifting device to avoid injury to personnel!
8.
NOTE!
For Cleanroom robots apply a protection
where the lifting equipment and roundslings will
rub against the paint of the robot.
In order to prevent from particle emission while
lifting, put for example a 20 mm thick cellular
plastic sheet around the places of the robot
where the lifting equipment may rub against the
paint.
9. Lift the upper arm and move to its mounting
position.
Make sure the lift is done completely level!
Note
Art. no. is specified in Required
equipment on page 261.
Shown in the figure Location of upper
arm on page 260.
Art. no. is specified in Required
equipment on page 261.
Attachment points are shown in the
figure Location of upper arm on page
260.
NOTE!
The different attachment points,
depends on whether the wrist unit is
mounted or not!
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
Art. no. is specified in Required
equipment on page 261.
Continues on next page
3HAC026876-001 Revision: C