ABB IRB 7600 Series Product Manual page 364

4 Repair
4.6.6. Replacement of motor, axis 6
Continued
12. Recalibrate the robot.
13.
Replacement of the motor axis 6 (Foundry Plus and Foundry Prime)
Robots working with Foundry Plus or Foundry Prime and that have the special tightness for
this application require special repair routines to maintain the tightness level.
The repair must be done according to the previous repair procedure with the following
additions.
1. Move the robot to one of the recommended
2.
3. In horizontal position: drain the oil from the axis
362
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Action
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section DANGER - First test run
may cause injury or damage! on page
Action
positions:
• to a position where the motor in axis 6
is pointed straight up. This position
enables the motor to be replaced
without draining the gear oil, which in
turn saves time.
• to a position where the motor in axis 6
is close to horizontal. This position may
be selected when the gearbox is to be
replaced, that is when the gearbox oil
has to be drained anyway.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
Turn off all electric power and hydraulic but not
the air pressure to the gearboxes, motors and
SMB.
6 gearbox.
Note
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in section
information on page
47.
Note
Detailed in section:
Continues on next page
3HAC022033-001 Revision: K
Calibration
403.
Draining, oil, axis 6.