NoteAction
CAUTION
Always cut the paint with a knife and grind the
paint edge when disassembling parts. See Cut
the paint or surface on the robot before replacing
parts on page 219.
3
Detailed in section Removal, upper
arm on page 276.
Remove the upper arm.4
Detailed in section Replacing cable
harness, axes 1-6 on page 222.
Disconnect and remove the cables from inside
the lower arm.
Release any cable attachments.
5
Art. no. is specified in Required
equipment on page 281.
Apply the shackle to the balancing device and
raise to unload the weight of the device.
6
Attachment is shown in the figure
Location of lower arm on page 281.
Method 1 detailed in section Unload-
ing the balancing device using hy-
draulic press tool on page 333
Unload the balancing device in order to make the
piston rod and front ear adjustable when pulling
the front shaft out.
7
Method 2 detailed in section Unload-
ing the balancing device using dis-
tance tool on page 327.
Shown in the figure Location of lower
arm on page 281.
Remove the securing screw from the balancing
device front shaft.
8
Lower the balancing device until it rests safely
against the bottom of the frame.
9
The figure shows IRB 6600 but the
position of the lower arm shall be the
same.
xx0300000015
Move the lower arm backwards to the lowest po-
sition possible.
10
Art. no. is specified in Required
equipment on page 281.
Apply the lifting accessory to the lower arm.11
Detailed in section Changing oil, ax-
is-2 gearbox on page 173.
Drain the oil from gearbox 2.12
CAUTION
The lower arm weighs 160 kg! All lifting equip-
ment used must be sized accordingly!
13
Continues on next page
Product manual - IRB 6640 Foundry Prime 283
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.4.5 Replacement of complete lower arm
Continued
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