ABB IRB 1660 - Replacing the Complete Upper Arm, IRB 1600 ID;1660 ID; Location of the Complete Upper Arm

4.4.2 Replacing the complete upper arm, IRB 1600ID/1660ID
Note
Recalibration of robot axis 3-6 is required after replacement of upper arm.
Location of the complete upper arm
The complete upper arm is considered a spare part, including wrist, gearboxes
and motors. The figure below shows the location of the upper arm and connection
to the lower arm.
xx0700000045
VK -CoverA
Socket head cap screw M10x40B
Cable harnessC
V-ringD
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188 Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
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4 Repair
4.4.2 Replacing the complete upper arm, IRB 1600ID/1660ID