ABB IRB 6700Inv Series Product Manual page 469

Removing the motor
These procedures describes how to remove the motor.
Preparations before removing the axis-2 motor
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2
3
4
5
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
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 oil from the gearbox.
Jog the robot to the calibration position.
DANGER
Secure the weight of the lower arm with a
lock screw, before releasing the brakes on
the axis-2 motor as well as before removing
the axis-2 motor or the axis-2 gearbox.
Insert the lock screw into the frame. If
needed, adjust the position of axis-2 to
make it possible to insert the lock screw.
The lock screw is used to secure the weight
of the lower arm, in order to avoid acci-
dents or damage.
Note
Tighten the lock screw manually, no tools
needed.
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4.7.2 Replacing the axis-2 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 684.
Note
See Draining the axis-2 gearbox on
page 152.
Lock screw, M16x120
xx1700000513
Continues on next page
4 Repair
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