ABB IRB 6700 Product Manual page 514

4 Repair
4.8.3 Replacing the axis-3 gearbox
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Removing the upper arm
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514
Action
When the motor is hanging in the lifting
accessory, and the pinion no longer is
mated to the gear, let the outer end of the
motor hang lower so that it will hang in an
angle. This position makes it easier to re-
move the axis-3 motor with the axis-4 mo-
tor still fitted.
CAUTION
The pinion must have been parted from
the gear before the motor is angled. If not
there is a risk of damaging the pinion and
gear.
Disconnect the 24 VDC power supply.
Use caution and remove the motor by lift-
ing it straight out.
Put the motor somewhere safe.
Action
Remove two attachment screws (M12) in
opposite holes and replace them with guide
pins.
(Screws that secure the lower arm to the
axis-3 gearbox.)
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
© Copyright 2013 ABB. All rights reserved.
Note
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Make sure the pinion is not damaged in
the process.
xx1200001131
Note
Guide pin, M12x150: 3HAC13056-2
Guide pin, M12x200: 3HAC13056-3
Always use guide pins in pairs!
xx1300000659
3HAC044266-001 Revision: -