ABB OmniCore IRB 6740 Product Manual page 514

5 Repair
5.9.2 Replacing the axis-2 gearbox
Continued
Preparations before removing the gearbox
1
2
3
4
Attaching lifting accessories to the lower and upper arm
1
2
Continues on next page
514
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
Jog the robot into position:
• Axis 1: 0°
• Axis 2: -60°
• Axis 3: +65° (approximately)
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: +90° (if DressPack is installed)
CAUTION
Check that the balancing device ear does not
collide with the ear on the lower arm when jogging
the axis-2 into position.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
Begin draining the gearbox.
Action
CAUTION
The weight of the complete upper and lower arm
together is 535-565 kg (depending on robot vari-
ant)
All lifting accessories used must be sized accord-
ingly.
Fit a lifting eye to the wrist.
© Copyright 2023 ABB. All rights reserved.
Note
xx2300000677
See Draining the axis-2 gearbox on
page 143.
Note
Lifting eye: 3HAC16131-1
xx2200001522
Product manual - IRB 6740
3HAC085701-001 Revision: A