ABB IRB 660, Product Manual, Page: 289 / 362

Note Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure. 1
When removing axis 2 gearbox: Run the
axis 2 to -42° and all other axes to 0° (cal-
ibration position).
2
When removing axis 3 gearbox: Run the
axis 2 to -40°, axis 3 to +15° and all other
axes to 0°.
Axis 2:
xx1100000623
When removing axis 2 gearbox: Remove
all screws in the lower screw area on the
inside of the lower arm (7 pcs M12, 2 pcs
M16). See figure.
When removing axis 3 gearbox: Remove
all screws in the upper front screw area and
three screws in the upper back area.
3
Axis 3:
xx1100000624
Run axis 2 to 0°. 4
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Product manual - IRB 660 289
3HAC025755-001 Revision: W
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4 Repair
4.7.2 Replacing the gearbox, axes 2- 3
Continued