ABB IRB 6650S Series Product Manual page 268

4 Repair
4.4.3 Replacement of upper arm
Continued
Removal, upper arm
The procedure below details how to remove the upper arm.
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268
Action
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
Remove all equipment fitted to turning disk.
Move the upper arm to a horizontal position.
Rotate axis 4 so that the attachment hole for lifting
eye is faced upwards!
Rotate axis 5 to position +90°.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Upper arm including wrist unit:
Fit the lifting eye, VLBG M12 to the attachment hole
for lifting eye on the upper arm tube.
Upper arm including wrist unit:
Fit one of the pieces included in lifting accessory,
upper arm to the front attachment for lifting access-
ory on the upper arm.
Upper arm without wrist unit:
Fit the lifting accessory, upper arm to both attach-
ments for lifting accessory.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 402.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Shown in the figure
upper arm on page
Art. no. is specified in
equipment on page
Shown in the figure
upper arm on page
Art. no. is specified in
equipment on page
Attachment point is shown in the
figure Location of upper arm on
page 264.
Note
The different attachment points,
depends on whether the wrist unit
is mounted or not!
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Location of
264.
Required
267.
Location of
264.
Required
267.