ABB IRB6400 - Page 98

Disassembly/Assembly
Guidelines
IRB 6400
Page 6 - 16
Axes 2 & 3 Guidelines
LOWER ARM (L17) & PARALLEL ARM (L58) Removal
1. TURN MAIN ELECTRICAL DISCONNECT SWITCH OFF AND LOCK IT
IN THE OFF POSITION.
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
2. SECURE AXIS 2 WITH LOCKING SCREW INTO LOWER ARM (L17).
SECURE AXIS 3 WITH SUPPORT BAR.
3. REMOVE UPPER ARM ASSEMBLY as outlined on page 6 - 17.
4. REMOVE COUNTERBALANCE WEIGHT (L68):
a. Insert shackles into threaded holes in counterbalance weight
(L68) to attach hoist.
b. Remove screws (L76) and washers (L75).
c. Lift weight (L68) away and set in a safe place.”
5. ATTACH HOIST TO LOWER ARM FRAME (L17) AS SHOWN IN FIG-
URE AT LEFT.
6. REMOVE AXIS 2 & 3 GEAR REDUCTION UNITS as outlined on page
6 - 5.
7. REMOVE LOWER ARM (L17) AND PARALLEL ARM (L58):
a. Remove locking screws from step 2.
b. Carefully lift lower arm (L17) and parallel arm (L58) assembly
from frame housing (S21).
REFERENCE DRAWINGS
Exploded View:
“S” (pg 6-23, 12-2)
Assemblies:
3HAA 0001-EP (pg 13-6)
Hand Tools
Shackles
REQUIRED TOOLS
3HAA 0001-RB (pg 13-13)
3HAA 0001-RB (pg 13-14)
3HAA 0001-RB (pg 13-15)
3HAB 4162-2 (pg 13-19)
3HAB 4162-2 (pg 13-20)
3HAB 4167-2 (pg 13-23)
E
E
“L” (pg 6-24, 12-3)
Locking Screws
BAR
SCREWS (EACH SIDE)
COUNTERBALANCE
WEIGHT WEIGHS
APPROX. 700 TO
900 LB.
UPPER ARM ASSEM.
ASSEMBLY WEIGHS
APPROX. 800 LB.