ABB IRB 6730 Product Manual page 414

5 Repair
5.8.4 Replacing the axis-4 motor
Continued
Required tools and equipment
Equipment
Brake release tool
Guide pin, M10x150
Bits extender
Removal tool motor M12
Rotation tool M4
Calibration toolbox, Axis Calibra-
tion
Standard toolkit
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the motor
1
2
Continues on next page
414
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
Jog the robot into position:
• Axis 1: no significance
• Axis 2: -65°
• Axis 3: upper arm pointing straight up (if
possible).
• Axis 4: no significance
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no need to
drain oil from the axis-4 gearbox when the motor
is replaced.
© Copyright 2023 ABB. All rights reserved.
Article number Note
3HAC081310-001 User instructions are enclosed
with the tool.
3HAC15521-2 Always use guide pins in pairs.
3HAC12342-1 300 mm, bits 1/2"
3HAC14631-1 Used to push out the motor, if
necessary.
Always use removal tools in
pairs.
3HAB7887-1 Used to rotate the motor pinion.
Add screw M4.
3HAC074564-001 Delivered as a set of calibration
(axes 1, 2, 3 and 4) tools.
3HAC074119-001 Required if Axis Calibration is the
(axes 5 and 6) valid calibration method for the
robot.
- Content is defined in section
Standard toolkit on page
Note
xx2200001812
648.
Product manual - IRB 6730
3HAC085699-001 Revision: B