Disassembly/Assembly
Guidelines
IRB 6400
Page 6 - 19
Axes 2 & 3 Guidelines
UPPER ARM ASSEMBLY Removal
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
1. TURN THE MAIN ELECTRICAL DISCONNECT SWITCH OFF AND
LOCK IT IN THE OFF POSITION.
2. REMOVE UPPER CABLE as outlined in Section 10.
3. REMOVE COUNTERBALANCE CYLINDERS (L63)(L85) as outlined
on page 6 - 8.
4 ATTACH HOIST TO UPPER ARM AS SHOWN IN FIGURE BELOW.
5. DETACH PARALLEL BAR (L42) AT TOP:
a. Mark clamps (U58) so they can be reassembled in same location.
b. Remove screws (U56) and washers (U57).
c. Remove clamps (U58).
d. Let parallel bar (L42) swing back and rest on counterbalance
weight (L68).
6. REMOVE NUTS (L8) AND (L24). An extended socket wrench is
required for nuts used on S/2.9-120 robots.
E
E
REFERENCE DRAWINGS
Exploded View:
“L” (pg 6-24, 12-3)
Assemblies:
3HAA 0001-ZT ( pg 13-5)
3HAB 4163-2 ( pg 13-23)
3HAA 0001-AAS ( pg 14-A)
3HAB 4254-2 ( pg 14-J)
REQUIRED TOOLS
“U” (pg 6-25, 12-4)
Hand Tools
UPPER ARM
WEIGHS
APPROX. 500 LB.
PARALLEL BAR
WEIGHS
APPROX. 80 LB.
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