ABB IRB 6700Inv Series Product Manual page 656

4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
3
Securing the upper arm
1
2
3
4
5
Continues on next page
656
Action
Fit two guide pins in opposite M16 holes
in the axis-3 gearbox.
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
Action
CAUTION
The weight of the complete upper arm (in-
cluding the wrist) is 465 kg
All lifting accessories used must be sized
accordingly.
Attach the lifting accessories, if not already
fitted.
Lift the upper arm and bring it towards the
lower arm.
If the axis-3 motor is installed to the upper
arm:
Connect the 24 VDC power supply, to re-
lease the brakes.
Connect to R2.MP3-connector:
• + = pin 2
• - = pin 5
Use the rotation tool and rotate the axis-3
motor to find the correct position for the
guide pins in the lower arm.
Disconnect and remove the 24 VDC power
supply after finding the position.
If the axis-3 motor is not installed to the
upper arm:
Use the pinion to rotate the axis-3 gearbox
to find the correct position for the guide
pins in the lower arm.
© Copyright 2017 - 2020 ABB. All rights reserved.
Note
Guide pin, M16x150: 3HAC13120-2
Guide pin, M16x200: 3HAC13120-3
Always use guide pins in pairs.
xx1700000056
Note
See Attaching lifting accessories to the
upper arm on page 204.
24 VDC power supply
Rotation tool
Pinion: 3HAC067545-001
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L