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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Action
Lubricate the outer surface of the gearbox
for easier mating of the gearbox and arm
system.
Look through the empty mounting hole of
motor 1 to assist in aligning the assembly
during refitting of the arm system.
The spring pin in the gearbox must be fitted
to the guiding hole of the frame (B).
Lower the arm system with guidance from
the guide pins previously fitted to the frame.
Note
The refitting must be made completely level!
Make sure the lifting accessory is adjusted
prior to refitting of arm system.
Refit 22 of the 24 attachment screws before
the arm system is completely lowered.
Remove the guide pins and secure the arm
system to the base with its 24 attachment
screws and washers.
Refit the block for calibration at the bottom
of the frame.
Refit the axis-1 motor.
Perform a leak-down test of the axis-1
gearbox.
Refit the cabling in the base.
Refill the gearbox with lubricating oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
may cause injury or damage on page
© Copyright 2004-2018 ABB. All rights reserved.
4.3.5 Replacement of complete arm system
Note
This is a complex task to be performed
with utmost care in order to avoid injury
or damage!
Shown in the figure
tem on page
M12 x 110, 12.9 quality UNBRAKO.
Tightening torque: 110 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 431
Shown in the figure
tem on page
Detailed in section
on page
323.
Detailed in section
down test on page
Detailed in section
gearbox on page
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section
Calibration on page
First test run
30.
4 Repair
Continued
Location of arm sys-
248.
before fitting.
Location of arm sys-
248.
Refitting, motor axis 1
Performing a leak-
212.
Changing oil, axis-1
174.
Calibrating
401.
389.
253
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