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10.
11. Apply the lifting tool to the lower arm.
12. Drain the oil from gearbox 2.
13.
14. Raise the tool to unload the lower arm.
15. Remove the lower arm shaft and all additional
3HAC026876-001 Revision: C
Action
7. Apply the puller tool, balancing device shaft to the
shaft of the balancing device, through the hole in
the frame.
The shaft has a M20 thread diameter, as shown
in the figure to the right.
Pull the shaft out using the puller tool and the
hydraulic pump.
8. Lower the balancing device until it rests safely
against the bottom of the frame.
9. Move the lower arm backwards to the lowest
position possible.
NOTE!
For Cleanroom robots apply a protection where
the lifting equipment and roundslings will rub
against the paint of the robot.
In order to prevent from particle emission while
lifting, put for example a 20 mm thick cellular
plastic sheet around the places on the robot
where the lifting equipment may rub against the
paint.
CAUTION!
The lower arm weighs 160 kg! All lifting
equipment used must be sized accordingly!
components, as detailed in section
lower arm
shaft.
4.4.5. Replacement of complete lower arm
Note
Art. no. is specified in
equipment on page
NOTE!
The dimension of the shaft puller tool
is M20. Do not mix up with the shaft
press tool used when mounting the
shaft.
The figure shows IRB 6600 but the
position of the lower arm shall be the
same.
xx0300000015
Art. no. is specified in
equipment on page
Detailed in section
gearbox axis 2 on page
Removal,
4 Repair
Continued
Required
267.
Required
267.
Oil change,
157.
Continues on next page
269
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