Replacement Of Upper Arm - ABB IRB 6650S Series Product Manual

Table of Contents

4.4.3 Replacement of upper arm

Location of upper arm

The upper arm is located on top of the robot as shown in the following figure. The

complete upper arm includes the wrist unit but this section also describes how to

remove the upper arm when there is no wrist unit mounted.

Continues on next page

The lifting accessory is attached differently depending on whether the wrist unit

is mounted on the upper arm or not. The attachment points are shown in the

following figure.

Product manual - IRB 6650S

3HAC020993-001 Revision: Z