ABB IRB 6650S Series Product Manual page 294

Table of Contents

4.4.6 Securing the lower arm

Securing the lower arm

The procedure below details how to secure the lower arm by fitting the fixture to

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Turn off all:

electric power supply to the

hydraulic pressure supply

to the robot

air pressure supply to the

Before entering the robot working

Remove any load or equipment

fitted to the upper arm or turning

Move the robot to the calibration

position. The upper arm can be

directed in three different ways,

shown in the figure to the right.

The lowered position, as in figure

A, is recommended as it gives the

least load on the tool.

If the robot is fitted with moveable

mechanical stops on axis 2 (not

stock equipment), these must be

removed at this point.

The attachment holes of the

mechanical stops are used to at-

tach the fixture.

Note/Illustration

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Product manual - IRB 6650S

3HAC020993-001 Revision: Z