ABB Robotics IRB 6790 Product Manual page 449

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.
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Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
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
to the robot, before entering the safe-
guarded space.
Remove any equipment hindering access
to the motor.
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4.7.3 Replacing the axis-3 motor
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 624.
Note
See Draining the axis-3 gearbox on
page 143.
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4 Repair
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