NoteAction
CAUTION
The complete upper arm weighs 380 kg without
any additional equipment fitted! Use a suitable
lifting accessory to avoid injury to personnel!
6
Lift the upper arm and move to its mounting
position.
CAUTION
Make sure the lift is done completely level!
7
Art. no. is specified in Required equip-
ment on page 274.
Fit in the gearbox attachment holes with the
attachment holes on the lower arm with the
guide pins.
8
Shown in the figure Location of upper
arm on page 273.
Fit the three washers to be placed beneath the
attachment screws.
9
Shown in the figure Location of upper
arm on page 273.
Insert 31 of the 33 attachment screws, upper
arm into the attachment holes in the lower arm.
Do not remove the guide pins until the attach-
ment screws are tightened as detailed below.
10
Removing the plastic mechanical stops
may be required before fitting the upper
arm.
If guide pins are removed before the
screws are tightened, the sealing can
be involuntarily moved into wrong pos-
ition.
33 pcs: M12 x 50; 12.9 quality UN-
BRAKO, tightening torque: 120 Nm.
Secure the lower arm to gearbox axis 3, with
the attachment screws.
11
Reused screws may be used, providing
they are lubricated as detailed in sec-
tion Screw joints on page 461 before fit-
ting.
Remove the guide pins and fit the two remaining
attachment screws. Tighten them as detailed
above!
12
See Replacing motor axis 3 on
page 354.
Refit the axis-3 motor.13
Remove the lifting accessories.14
Refit any cabling removed during the removal
process.
15
Reconnect all connectors inside motors, axis 3
and 4. Refit the motor covers.
16
Detailed in section Performing a leak-
down test on page 214.
Perform a leakdown test.17
Detailed in section Changing oil, axis-
3 gearbox on page 176.
Refill the gearbox with oil.18
Seal and paint the joints that have been opened.
See Cut the paint or surface on the robot before
replacing parts on page 219
19
Continues on next page
Product manual - IRB 6640 Foundry Prime 279
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.4.4 Replacement of upper arm
Continued
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