ABB IRB 6700Inv Series Product Manual page 648

4 Repair
4.8.4 Replacing the axis-3 gearbox
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Removing the cable harness from the upper arm and wrist
The upper arm cabling can stay fitted, if the distance between the axis-3 rotation
centre and the floor does not exceed 2.1 m. If the distance exceeds 2.1 m, the
cabling in the upper arm and the wrist must be removed.
Removal of the cabling in the upper arm and wrist is described in
cable harness - upper arm and wrist on page
Attaching the lifting accessories to the upper arm
Use this procedure to attach the lifting accessories to the upper arm.
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Action
CAUTION
The motor weighs 26 kg.
All lifting accessories used must be sized
accordingly.
Fasten the lifting accessory to the motor.
Attach the lifting chain to the accessory
and an overhead crane.
When the motor is hanging in the lifting
accessory, and the pinion no longer is
mated to the gear, let the outer end of the
motor hang lower so that it will hang in an
angle. This position makes it easier to re-
move the axis-3 motor with the axis-4 mo-
tor still fitted.
CAUTION
The pinion must have been parted from
the gear before the motor is angled. If not
there is a risk of damaging the pinion and
gear.
Disconnect the 24 VDC power supply.
Remove the motor by lifting it straight out.
Action
CAUTION
The weight of the complete upper arm (in-
cluding the wrist) is 465 kg
All lifting accessories used must be sized
accordingly.
© Copyright 2017 - 2020 ABB. All rights reserved.
Note
Lifting accessory, motor: 3HAC15534-1
Lifting accessory (chain): 3HAC15556-1
xx1700000271
Make sure the pinion is not damaged.
214.
Note
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
Removing the