NoteAction
Detailed in section Changing oil, axis-4
gearbox on page 153.
Drain the oil from axis 4.6
Detailed in section Replacement of cable
harness, upper end on page 196
Remove the cable harness in the upper arm.7
CAUTION
The complete upper arm weighs 380 kg
without any additional equipment fitted!
Use a suitable lifting accessory to avoid in-
jury to personnel!
8
Raise the lifting equipment to take the
weight of the upper arm.
9
Detailed in section Replacing the balan-
cing device on page 266
(Not applicable to robot variant IRB 6660
- 205/1.9! )
Remove the balancing device.
10
Detailed in section Replacing the parallel
rod on page 238
Remove the parallel rod.11
Shown in the figure View of the assembly
of the upper arm components on page 229.
Remove the lock nut (K) on the shaft, axis
3 (B).
12
Shown in the figure View of the assembly
of the upper arm components on page 229.
Remove the set screw (C) holding the shaft.13
Shown in the figure View of the assembly
of the upper arm components on page 229.
Remove the shaft axis 3 (B).14
Perform the removal with care. Threads
can otherwise be damaged!
Shown in the figure View of the assembly
of the upper arm components on page 229.
Then remove the shaft, axis 2 (A) in the
same order:
1 Remove the lock nut (K)
2 Remove the set screw (C) holding
the shaft
3 Remove the shaft axis 2.
15
Put the shafts in a clean and safe place.16
Remove the upper arm.17
Preparations before refitting, upper arm
The procedure below details the preparations which must be done before refitting
the upper arm.
NoteAction
Shown in the figure View of the assembly
of the upper arm components on page 229.
Put the shafts (A & B) on a workbench and
fit the sealing rings (E).
1
Note
Don´t apply grease on the threads and
cones of the shafts!
Apply some grease on the shafts and sealing
rings.
2
Continues on next page
Product manual - IRB 6660 233
3HAC028197-001 Revision: S
© Copyright 2007-2018 ABB. All rights reserved.
4 Repair
4.4.3 Replacement of upper arm
Continued
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