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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Action
Lift the lower arm and move it to its mounting
position.
In case the hole pattern of the lower arm and
the gearbox axis 2 does not match, use power
supply to release the motor axis 2 brakes and
rotate the pinion and gear with the rotational
tool.
Disconnect the power supply, if used.
Secure the lower arm with 16 of the 18attach-
ment screws and washers in gearbox, axis 2.
Remove the guidings and secure the two re-
maining screws as detailed above!
Refit the lower arm shaft and all additional
components, as detailed in section
ment of lower arm shaft on page
Remove the lifting tool from the lower arm.
Refit and restore the balancing device.
Refit the upper arm.
Perform a leak-down test.
Refill the gearbox with oil.
Refit and reconnect all cables inside the lower
arm.
Resecure any cable attachments.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.4 Replacement of complete lower arm
Note
Connect power supply to connector
R2.MP2
•
+: pin 2
•
-: pin 5
xx0200000165
The rotation tool (A) is used beneath
the motor cover, directly on the motor
shaft as shown in figure above.
Art. no. is specified in
ment on page
18 pcs: M16 x 50, tightening torque:
300 Nm.
Reused screws may be used, providing
they are lubricated as detailed in sec-
tion
Screw joints on page 431
ting.
Shown in the figure
ents, lower arm on page
Replace-
283.
See section
device on page
See section
page
270.
See section
test on page
See section
box on page
Detailed in section
harness, axes 1-6 on page
4 Repair
Continued
Required equip-
276.
before fit-
Internal compon-
273.
Replacing the balancing
306.
Refitting, upper arm on
Performing a leak-down
212.
Changing oil, axis-2 gear-
177.
Replacing cable
219.
Continues on next page
281
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