ABB IRB 6700I, Product Manual

Page: 292 / 730

Note Action
Guide pin, M16x150: 3HAC13120-2 Fit two guide pins in opposite M16 holes
in the axis-3 gearbox.
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
3
Guide pin, M16x200: 3HAC13120-3
Always use guide pins in pairs.
xx1700000056
Securing the upper arm
Note Action
CAUTION
The weight of the complete upper arm (in-
cluding the wrist) is 465 kg
All lifting accessories used must be sized
accordingly.
1
See Attaching lifting accessories to the
upper arm on page 204 .
Attach the lifting accessories, if not already
fitted. 2
Lift the upper arm and bring it towards the
lower arm. 3
24 VDC power supply If the axis-3 motor is installed to the upper
arm: 4
Rotation tool
Connect the 24 VDC power supply, to re-
lease the brakes.
Connect to R2.MP3-connector:
• + = pin 2
• - = pin 5
Use the rotation tool and rotate the axis-3
motor to find the correct position for the
guide pins in the lower arm.
Disconnect and remove the 24 VDC power
supply after finding the position.
Pinion: 3HAC067545-001 If the axis-3 motor is not installed to the
upper arm: 5
Use the pinion to rotate the axis-3 gearbox
to find the correct position for the guide
pins in the lower arm.
Continues on next page
292 Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
© Copyright 2017 - 2020 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued