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Here is the most commonly referred to procedure:
http://www.matthewsvolvosite.com/forums/viewtopic.php?t=8767
What I do is:
I warm up the car
I jack it up to get to the drain plug and drain the tranny
I put the plug back in and put back in exactly as much fluid as I removed
I start the car and carefully row the shifter through neutral and drive a few times. I put it in park.
I shut the car off and drain the tranny again and repeat the process until the oil is clear enough to satisfy me. Generally the amount of oil that I use is about 10 qts.
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