ABB IRB 6710 Product Manual page 393

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
Product manual - IRB 6710
3HAC085695-001 Revision: A
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.
5.7.4 Replacing the axis-4 motor
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
5 Repair
Continued
628.
Continues on next page
393