ABB IRB 6710 Product Manual page 419

Required tools and equipment
Equipment
Brake release tool
Removal tool motor M10
Guide pin, M8x150
Rotation tool M3
Calibration toolbox, Axis Calibra-
tion
Standard toolkit
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
1
2
3
Product manual - IRB 6710
3HAC085695-001 Revision: A
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Jog the robot to a position where axis 5
can be positioned with the axis-6 motor
pointing straight up at an acceptable
working position.
With axis 5 in this position it is possible to
replace the axis-6 motor without draining
the oil from the axis-6 gearbox.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
© Copyright 2023 ABB. All rights reserved.
5.7.6 Replacing the axis-6 motor
Article number Note
3HAC081310-001 User instructions are enclosed
with the tool.
3HAC14972-1 Used to push out the motor, if
necessary.
3HAC15520-2 Always use guide pins in pairs.
3HAB7887-1 Used to rotate the motor pinion.
Add screw M3.
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
xx2200002146
5 Repair
Continued
628.
Continues on next page
419