ABB IRB 6640 - Page 321

4 Repair
4.5.6. Unloading the balancing device using distance tool
3193HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
4. Jog the robot lower
arm backward until the
pressure from the
balancing device
release.
xx0800000481
5.
CAUTION!
Secure the upper arm
before removing the
shaft.
Action Note/Illustration
Continued