ABB IRB 6650S Series Product Manual page 251

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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Action
Disconnect the cabling in the
rear of the robot base and re-
move the cable support plate in-
side the base.
Pull the disconnected cabling up
through the center of the axis-1
gearbox.
Remove the motor, axis 1.
Remove the block for calibration
from the bottom of the frame.
Unfasten the arm system from
the base by unscrewing its 24
attachment screws.
Fit two guide pins in two oppos-
ite screw holes.
CAUTION
The complete arm system
weighs 1250 kg! All lifting
equipment used must be sized
accordingly!
Lift the arm system carefully and
secure it in a safe area.
Always move the robot at very
low speeds, making sure it does
not tip.
Continue lifting even if the arm
system turns out to be unbal-
anced despite earlier adjust-
ments! The risk of damaging the
interfaces is bigger if the load is
lowered unbalanced!
© Copyright 2004-2018 ABB. All rights reserved.
4.3.5 Replacement of complete arm system
Note
How to replace the cabling is detailed in
cable harness, axes 1-6 on page
Detailed in section Removal, motor axis 1 on page
Shown in the figure Location of arm system on
page 248.
Shown in the figure Location of arm system on
page 248.
xx0600003070
Parts:
• A: Serrated lock washer
• B: Gearbox axis 1
• C: Attachment screws M12x110
Art. no. is specified in section
page 249.
Make sure all hooks and attachments stay in the cor-
rect position while lifting the arm system and that the
lifting accessory does not wear against sharp edges.
4 Repair
Continued
Replacing
219.
322.
Required equipment on
Continues on next page
251