Equipment
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 axis-5 motor
1
2
3
Product manual - IRB 6720
3HAC085697-001 Revision: C
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Jog the robot into position:
•
Axis 1: no significance
•
Axis 2: suitable working position to
replace axis-5 motor (for example:
+25°)
•
Axis 3: suitable working position to
replace axis-5 motor (for example:
+35°)
•
Axis 4: +90°
•
Axis 5: no significance
•
Axis 6: no significance
With the robot in this position, there is no
need to drain oil from the axis-5 gearbox
when the motor is replaced.
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.
5.7.5 Replacing the axis-5 motor
Article number
Note
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
xx2200001814
5 Repair
Continued
629.
Continues on next page
409