NoteAction
Connect power supply to connector
R2.MP2
• +: pin 2
• -: pin 5
xx0200000165
In case the hole pattern of the lower arm and
the gearbox axis 2 does not match, use power
supply to release the motor axis 2 brakes and
rotate the pinion and gear with the rotational
tool.
7
The rotation tool (A) is used beneath
the motor cover, directly on the motor
shaft as shown in figure above.
Art. no. is specified in Required equip-
ment on page 281.
Disconnect the power supply, if used.8
20 pcs: M16 x 50, tightening torque:
300 Nm.
Secure the lower arm with 18 of the 20attach-
ment screws and washers in gearbox, axis 2.
9
Reused screws may be used, providing
they are lubricated as detailed in sec-
tion Screw joints on page 461 before fit-
ting.
Remove the guidings and secure the two re-
maining screws as detailed above!
10
Remove the lifting tool from the lower arm.11
See section Replacing the balancing
device (design 1) on page 302.
Refit and restore the balancing device.12
See section Refitting, upper arm on
page 278.
Refit the upper arm.13
See section Performing a leak-down
test on page 214.
Perform a leak-down test.14
See section Changing oil, axis-2 gear-
box on page 173.
Refill the gearbox with oil.15
Detailed in section Replacing cable
harness, axes 1-6 on page 222.
Refit and reconnect all cables inside the lower
arm.
Resecure any cable attachments.
16
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 219
17
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
Recalibrate the robot!18
General calibration information is in-
cluded in section Calibration informa-
tion on page 439.
Continues on next page
Product manual - IRB 6640 Foundry Prime 285
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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