ABB IRB 6700Inv Series Product Manual page 495

Removing the motor
These procedures describes how to remove the motor.
Preparations before removing the axis-4 motor
1
2
3
4
Disconnecting the motor cables
1
2
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
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 = +20°
• axis 3 = +70° (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
• air pressure supply
to the robot, before entering the safe-
guarded space.
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
Unscrew the attachment screws and
washers and remove the motor cover.
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4.7.4 Replacing the axis-4 motor
Note
Note
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Continues on next page
4 Repair
Continued
495