ABB IRB 14000 Product Manual page 216

4 Repair
4.4.7 Replacing the axis-6 motor
Continued
Removing the wave generator from the motor
1
2
Continues on next page
216
Action
Remove the wave generator from the motor shaft
by removing the set screw(s) and then pulling it
off the shaft.
Axis 1, axis 2, axis 7, axis 3.
Axis 4, axis 5 and axis 6.
Place the wave generator on a clean workbench,
if not instantly fitting it to a new motor.
CAUTION
Keep the wave generator clean.
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Product manual - IRB 14000
3HAC052983-001 Revision: D