ABB IRB6400 - Parallel Bar (L42) Removal

Disassembly/Assembly
Guidelines
IRB 6400
Page 6 - 10
Axes 2 & 3 Guidelines
PARALLEL BAR (L42) Removal
1. POSITION ROBOT SO PARALLEL ARM (L58) IS HORIZONTAL.
2. TURN MAIN ELECTRICAL DISCONNECT OFF AND LOCK IT IN THE
OFF POSITION.
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
3. ATTACH HOIST TO UPPER ARM & TAKE UP ALL SLACK TO SUP-
PORT WEIGHT. SEE FIGURE BELOW.
4. REMOVE CLAMPS (L71):
a. Mark clamps so they can be reassembled in the same place.
b. Remove screws (L69) and washers (L70).
c. Remove clamps (L71).
5. REMOVE CLAMPS (U58):
a. Mark clamps so they can be reassembled in the same place.
b. Remove screws (U56) and washers (U57).
c. Remove clamps (L58).
6. TAP PARALLEL BAR TO LOOSEN IT FROM MOUNTING AND LIFT
(L42) AWAY. THE HOIST IS NOW HOLDING THE UPPER ARM IN
POSITION.
E
E
REFERENCE DRAWINGS
Exploded View:
“L” (pg 6-24, 12-3)
Assembly:
3HAA 0001-ZT (pg 13-5)
Hand Tools
REQUIRED TOOLS
SUPPORT WEIGHT
WITH BAR THROUGH
LIFTING HOLES
SUPPORT UPPER ARM
WITH HOIST & STRAP
PARALLEL BAR WEIGHS
APPROX. 65 LB.