ABB IRB 6650S - 200/3.0, Product Manual

Page: 237 / 477

4 Repair
4.3.5. Replacement of complete arm system
235 3HAC020993-001 Revision: G
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Co
py
rig
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t 200
4-
200
8 ABB. All righ
ts reser
v
ed.
8. Remove the guide pins and secure the arm
system to the base with its 24 attachment
screws and washers.
Shown in the figure Location of arm
system on page 231 !
M12 x 110, 12.9 quality UNBRAKO.
Tightening torque: 110 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 384 before fitting.
9. Refit the block for calibration at the bottom of
the frame.
Shown in the figure Location of arm
system on page 231 !
10. Refit the motor axis 1. Detailed in section Refitting, motor axis 1
on page 302 .
Detailed in section Replacement of motor,
axis 1 on page 300 .
11. Refit the cabling in the base.
12. Perform a leak-down test of the gearbox axis
1.
Detailed in section Performing a leak-
down test on page 200 .
13. Refill the gearbox axis 1 with lubricating oil. Detailed in section Oil change, gearbox
axis 1 on page 157 .
14. Recalibrate the robot. Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
Calibration information
on page 365 .
15.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
DANGER - First
test run may cause injury or damage! on
page 38
.
Action Note/Illustration
Continued