ABB IRB 6640 - 180/2.55 Product Manual page 289

Articulated robot
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Equipment
Puller tool,
balancing device
Press tool,
balancing device
shaft
Hydraulic cylinder
Hydraulic pump,
80 MPa
Standard toolkit
Other tools and
procedures may
be required. See
references to
these procedures
in the step-by-step
instructions below.
Removal
The procedure below details how to remove the balancing device.
3HAC026876-001 Revision: C
Spare part
no.
Action
1. Move the lower arm to a position
close to the calibration position.
2. Secure the lower arm to the
frame by inserting the locking
screw into the attachment hole in
the frame.
4.5.4. Replacement of balancing device (old and new)
Art. no.
Note
3HAC12475-1
3HAC17129-1
3HAC11731-1
To be used with the press and puller
tools.
3HAC13086-1
To be used with the hydraulic
cylinder.
-
The content is defined in section
Standard toolkit on page
These procedures include
references to the tools required.
Note
Attachment hole for the locking screw is shown in the
figure .
xx0800000249
A Locking screw
Art. no. is specified in
4 Repair
Continued
394.
Required
equipment.
Continues on next page
287

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