ABB IRB 6400R, Product On-Line Manual

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Arm System Repairs
36 Product Manual IRB 6400R
6.8 Gearbox 1-3 including base
Gearbox 1-3 incl. base should be replaced as one unit. All the necessary parts must be
removed before replacing the gearbox.
Dismounting:
1. Dismount the harnesses from the upper and lower arms. (see chapters 7.2 and
7.1).
2. Dismount the balancing weight (see chapter 6.3).
3. Place the robot in the position as shown below and tie the upper and lower arms
together with a strap (see Figure 13, Lifting position).
4. Attach a hoist and the lifting device (3HAC 6878-1) to the upper arm.
5. Dismount lower arm (see chapter 6.4, Lower Arm).
4. Dismount Motors axes 1-3 (see chapters 3.1 and 3.2).
5. Dismount the Break release unit and the SMB (see chapters 6.9 and 6.10).
Mounting:
6. In reverse order.
Figure 13 Lifting position