ABB IRB 6640 Foundry Prime - Replacement of Upper Arm

4.4.4 Replacement of upper arm
Location of upper arm
The upper arm is located on top of the robot as shown in the following figure. The
complete upper arm includes the wrist unit but this section also describes how to
remove the upper arm when there is no wrist unit mounted.
Note
The lifting accessory is attached differently depending on whether the wrist unit
is mounted on the upper arm or not. The attachment points are shown in the
following figure.
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Product manual - IRB 6640 Foundry Prime 273
3HAC040586-001 Revision: N
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4 Repair
4.4.4 Replacement of upper arm