ABB IRB 6700 Series Product Manual page 573

Removing the axis-6 motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
1
2
3
4
Product manual - IRB 6700
3HAC044266-001 Revision: N
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Jog the robot to a position where axis 5
can be positioned with the motor pointing
straight up at an acceptable working posi-
tion.
With axis 5 in this position it is possible to
replace the motor without draining the oil
from the axis-6 gearbox.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Remove the wrist cover.
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4.7.6 Replacing the axis-6 motor
Note
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4 Repair
Continued
573