ABB IRB 6700 Series Product Manual page 532

4 Repair
4.7.3 Replacing the axis-3 motor
Continued
Removing the motor
These procedures describes how to remove the motor.
Preparations before removing the axis-3 motor
Use this procedure to do the necessary preparations before removing the motor.
1
2
3
4
5
Disconnecting the motor cables
1
Continues on next page
532
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Drain the axis-3 gearbox.
Unload the upper arm using one of these
methods:
• Use caution and jog axis-3 to maxim-
um + position. Release the brakes
and let the upper arm rest against
the axis-3 damper.
• Use a fork lift to rest the upper arm
onto.
• Use lifting slings and an overhead
crane to rest the upper arm onto.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Remove any equipment hindering access
to the motor.
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
© Copyright 2013 - 2018 ABB. All rights reserved.
Note
Note
See Draining the axis-3 gearbox on
page 171.
Note
Product manual - IRB 6700
3HAC044266-001 Revision: N