ABB IRB 660 Product Manual page 260

4 Repair
4.6.2 Replacing motors, axes 2 and 3
Continued
Removing motors axes 2 and 3
Use this procedure to remove motors axes 2 and 3.
The procedure is the same for both motors.
1
2
3
4
5
6
Continues on next page
260
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
Run the robot to a position close enough to its
calibration position, to allow the lock screw to
be inserted into the hole for lock screw.
Lock the lower arm by inserting the lock screw
into the hole of the frame.
This is done in order to secure axis 2 from col-
lapsing when the axis 2 motor is being removed.
CAUTION
Tighten by hand!
Run axis 3 to the end position so that it rests
against the mechanical stop. Release the brake
of axis 3 in order to set the weight of axis 3
against the mechanical stop.
This is done in order to secure axis 3 from col-
lapsing when the axis 3 motor is being removed.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working
area.
Drain the oil from gearbox.
© Copyright 2006-2020 ABB. All rights reserved.
Note
xx1000001101
See figure above.
See section
• Changing oil, gearbox axes 2
and 3 on page 126.
Product manual - IRB 660
3HAC025755-001 Revision: W