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5 Repair
5.7.3 Replacing the axis-3 motor
Continued
Required tools and equipment
Equipment
Brake release tool
Rotation tool M4
Guide pin, M10x150
Bits extender
Removal tool motor M12
Calibration toolbox, Axis Calibra-
tion
Standard toolkit
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the motor
1
2
3
Continues on next page
384
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
Drain the axis-3 gearbox.
Unload the upper arm using one of these meth-
ods:
•
Use caution and jog axis-3 to maximum +
position. Release the brakes and let the
upper arm rest against the axis-3 damper.
Position shown in figure.
•
Robot in synchronization position: use a
fork lift to rest the upper arm onto.
•
Robot in synchronization position: use lift-
ing slings and an overhead crane to rest
the upper arm onto.
© Copyright 2023 ABB. All rights reserved.
Article number
Note
3HAC081310-001
User instructions are enclosed
with the tool.
3HAB7887-1
Used to rotate the motor pinion.
Add screw M4.
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.
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
See
Draining the axis-3 gearbox on
page
xx2200001810
629.
156.
Product manual - IRB 6720
3HAC085697-001 Revision: C
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Table of Contents
Troubleshooting
