ABB IRB 6700Inv Series Product Manual page 482

4 Repair
4.7.3 Replacing the axis-3 motor
Continued
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.
1
2
3
Continues on next page
482
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Drain the axis-3 gearbox.
Jog axis 2 +20° and axis 3 -200°. The up-
per arm should be horizontal.
Unload the weight of the upper arm using
one of these methods:
• Use a fork lift to rest the upper arm
onto.
• Use lifting slings and an overhead
crane to rest the upper arm onto.
• Secure the upper arm with a lifting
eye, a lifting sling and a chain block.
Fit the lifting eye at the base of the
robot, the lifting sling around the
wrist and the chain block in between.
Strain the lifting sling with the chain
block until the weight of the upper
arm is unloaded.
© Copyright 2017 - 2020 ABB. All rights reserved.
Note
See Draining the axis-3 gearbox on
page 158.
xx1700000258
The figure shows the third method of secur-
ing the upper arm weight.
C
xx1700000360
A Lifting eye, M12
B Chain block
C Roundsling, 1 m
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
B