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Refitting, lower arm shaft on robot with protection Standard
Use this procedure to refit the lower arm shaft if the robot has protection Standard.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Action
Fit both the hydraulic pump and the glycerin pump
to the puller device.
Increase the pressure of the glycerin pump and, at
the same time, pull out the shaft with the puller tool
by increasing the pressure of the hydraulic pump.
Remove the bearing and thrust washer from the
shaft hole in the lower arm, recommendable after
removing the complete lower arm as detailed in
section
Replacement of complete lower arm on
page
273.
Action
Clean the shaft with isopropanol and lubricate it
with glycerin.
Push the shaft in by hand.
Refit the thrust washer to the shaft.
Apply the press device, axis 2 shaft against the
shaft.
Tighten the M16 nut.
Fit both the hydraulic pump and the glycerin pump
to the press device.
Set the indicator on the press device to zero.
Press in the shaft with the hydraulic cylinder by
setting the pressure of the hydraulic pump to ap-
proximately 35-55 MPa and the pressure of the
glycerin pump to 55 MPa.
Increase the pressure of the both pumps alternately
until the correct value is reached with the indicator
on the press tool.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.5 Replacement of lower arm shaft
Note
Art. no. is specified in
equipment on page
The attachments on the tool are
shown in figure
Puller device for
removal of axis 2 shaft on
page
285.
Note! Do not exceed the limit of
maximum pressure classified for
the pumps!
Note/Illustration
Art. no. is specified in
equipment on page
Also shown in the figure
ents, lower arm shaft for robots
with protection Standard on
page
283!
Art. no. is specified in
equipment on page
Tightening torque: 20 Nm.
Art. no. is specified in
equipment on page
The attachments on the tool are
shown in the figure
for refitting of axis 2 shaft on
page
286.
Shown in the figure
for refitting of axis 2 shaft on
page
286.
Correct value: 2.45 mm ± 0.15 mm.
Note
Do not exceed the limit of maxim-
um pressure classified for the
pumps!
Continues on next page
4 Repair
Continued
Required
284.
Required
284!
Compon-
Required
284!
Required
284.
Press device
Press device
289
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