4 Repair
4.4.4. Replacement of upper arm
3HAC023082-001 Revision: E290
© Copyright 2004-2008 ABB. All rights reserved.
4. Upper arm including wrist unit:
Fit one of the pieces included in the lifting
device, upper arm to the front attachment for
the lifting device on the upper arm.
Upper arm without wrist unit:
Fit the lifting device, upper arm to the both
attachments for the lifting device on the upper
arm.
Art. no. is specified in Required
equipment on page 287!
Attachment points are 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!
5. In order to release the brake of the axis 3 motor,
connect the 24 VDC power supply, after
removing the motor cover.
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
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.
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!
8. Lift the upper arm and move to its mounting
position.
Make sure the lift is done completely level!
9. Fit in the gearbox attachment holes with the
attachment holes on the lower arm with the
guide pins.
It may be necessary to turn the gear by rotating
the motor pinion with a rotation tool, motor
beneath the motor cover.
Art. no. is specified in Required
equipment on page 287!
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in figure above.
• A: Rotation tool
10. Fit the three washers to be placed beneath the
attachment screws.
Shown in the figure Location of upper
arm on page 286!
Action Note/Illustration
Continued
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