ABB Robotics IRB 6790 Product Manual page 462

4 Repair
4.7.4 Replacing the axis-4 motor
Continued
Removing the motor
These procedures describes how to remove the motor.
Preparations before removing the axis-4 motor
1
2
3
4
Continues on next page
462
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.
Jog the robot into position:
• axis 1 = no significance.
• axis 2 = -65°
• axis 3 = upper arm pointing straight
up (if possible).
With the robot in this position, there is no
need to drain oil from the axis-4 gearbox
when the motor is replaced.
If there is no space to position the upper
arm pointed straight up, drain the axis-4
gearbox.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
© Copyright 2019 - 2020 ABB. All rights reserved.
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
Product manual - IRB 6790
3HAC063331-001 Revision: B