ABB IRB 6710 Product Manual page 484

5 Repair
5.8.2 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
484
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 470 kg
All lifting accessories used must be sized accord-
ingly.
Fit a lifting eye to the wrist.
© Copyright 2023 ABB. All rights reserved.
Note
xx2200001615
See Draining the axis-2 gearbox on
page 145.
Note
Lifting eye: 3HAC16131-1
xx2200001522
Product manual - IRB 6710
3HAC085695-001 Revision: A