ABB IRB 6650S Series Product Manual page 309

Removal, balancing device
The procedure below details how to remove the balancing device.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Action
Move the lower arm to a position close to the
calibration position.
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.
Secure the lower arm to the frame by inserting
the locking screw into the attachment hole in
the frame.
CAUTION
The balancing device weighs 407 kg! All lifting
equipment used must be sized accordingly!
Apply the lifting eye and the shackle to the at-
tachments on the balancing device and raise
to unload the weight.
Unload the balancing device with the press tool
in order to make the piston rod and front ear
adjustable when pulling the shaft out.
Remove the securing screw from the balancing
device shaft.
Apply the puller tool, balancing device shaft
to the shaft through the hole in the frame.
The shaft has a M20 thread diameter, as shown
in the figure to the right.
Pull the shaft out using the puller tool and the
hydraulic pump.
Note
Make sure to keep the balancing device un-
loaded by keeping the tap to the press device
closed and using the second hose of the hy-
draulic valve to the puller tool.
© Copyright 2004-2018 ABB. All rights reserved.
4.5.4.1 Replacing the balancing device
Note
Attachment hole for the locking screw
is shown in the figure
points, balancing device on page
Art. no. is specified in
equipment on page
Art. no. is specified in
equipment on page
Attachments are shown in the figure
Attachment points, balancing device
on page 307.
Art. no. is specified in
equipment on page
Detailed in section Unloading the bal-
ancing device using hydraulic press
tool on page 313.
Shown in the figure
cing device on page
Art. no. is specified in
equipment on page
The hole in the frame is shown in the
figure Attachment points, balancing
device on page 307!
xx0300000060
Note
The dimension of the shaft puller tool
is M20. Do not mix up with the shaft
press tool used when mounting the
shaft.
Continues on next page
4 Repair
Continued
Attachment
307.
Required
307!
Required
307!
Required
307!
Location of balan-
306!
Required
307!
309