4 Repair
4.4.4. Replacement of upper arm
3HAC023082-001 Revision: E288
© Copyright 2004-2008 ABB. All rights reserved.
2. Remove all equipment fitted to turning disk.
3. Move the upper arm to a horizontal position.
Rotate axis 4 so that the attachment hole for lifting
eye is faced upwards!
Shown in the figure Location of
upper arm on page 286!
4. Upper arm including wrist unit:
Fit the lifting eye, VLBG M12 to the attachment hole
for lifting eye on the upper arm tube.
Art. no. is specified in Required
equipment on page 287!
Shown in the figure Location of
upper arm on page 286!
5. Upper arm including wrist unit:
Fit one of the pieces included in lifting device, upper
arm to the front attachment for lifting device on the
upper arm.
Upper arm without wrist unit:
Fit thelifting device, upper arm to the both
attachments for lifting device.
Art. no. is specified in Required
equipment on page 287!
Attachment point is shown in the
figure Location of upper arm on
page 286!
Notice the different attachment
points, depending on whether the
wrist unit is mounted or not!
6. Fasten the lifting tool (chain) onto the lifting eye, the
lifting device and an overhead crane.
Art. no. is specified in Required
equipment on page 287!
7. Drain the oil from gearbox axis 3. Detailed in section Oil change,
gearbox, axis 3 on page 188.
8. Disconnect connector R2.M5/6 at the cable
harness division as well as all remaining
connections between upper and lower arm.
Shown in the figure Location of
upper arm on page 286!
9. Remove the cover on top of the motors, axis 3 and
4 and disconnect all connectors inside the motors.
10. Remove all brackets securing the cabling to the
upper arm by removing their attachment screws
respectively.
11.
CAUTION!
The complete upper arm weighs 380 kg (IRB6600,
IRB 6650) without any additional equipment fitted!
(robot model IRB 66X0ID: 437 kg!) Use a suitable
lifting device to avoid injury to personnel!
12. Raise the lifting equipment to take the weight of the
upper arm.
13. In order to release the brake of the axis 3 motor,
connect the 24 VDC power supply.
Note! When releasing the brake, the position of the
upper arm is adjusted to the position given by the
lifting equipment.
Connect to connector R2.MP3
• +: pin 2
•-: pin 5
14. Carefully remove the attachment screws and
washers, upper arm.
Shown in the figure Location of
upper arm on page 286!
15. Lift the upper arm and place it on a secure surface.
Make sure the lift is done completely level! In case
of necessary adjustments, use the shortening loops
on the lifting tool (chain), but make sure to place the
chain the right way through the loops!
Action Note
Continued
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