ABB IRB 6640 - 130/3.2, Product Manual

Page: 237 / 443

4 Repair
4.3.6. Replacement of complete arm system
235 3HAC026876-001 Revision: C
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6-2008 ABB.
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Required equipment
Removal, arm system
The procedure below details how to lift and remove the complete arm system.
Equipment, etc. Art. no. Note
Guide pins M12 x 130 3HAC022637-001 Used to guide the complete arm system
when refitting.
Always use the guide pins in pairs!
In order to make the refitting easier, it is
recommended to use two guide pins of
different lengths. Notice that longer
guide pins than 140 mm will not be
possible to remove from the frame
because lack of space after refitting!
Roundslings -
Hoisting block - Used to adjust the length of the lifting
chain.
Standard toolkit - The content is defined in section
Standard toolkit on page 394 .
Other tools and procedures
may be required. See
references to these
procedures in the step-by-
step instructions below. These procedures include references to
the tools required.
Action Note
1. Make sure the robot is positioned as
shown in figure to the right. If it is not,
position it that way.
Release the brakes if necessary, as detailed
in section
Manually releasing the brakes on
page 61 .
xx0700000351
2.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off
the air pressure to motors and SMB.
3. Drain the oil from gearbox axis 1. Detailed in section Oil change, gearbox axis 1
on page 154 .
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