ABB OmniCore IRB 6720 Product Manual page 462

5 Repair
5.8.1 Replacing the axis-1 gearbox
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Action
Visually verify through the axis-1 motor
hole that the hole is aligned with the pinion
hole in the gearbox.
Lower the arm system slowly until the
heads of the gearbox attachment screws
are starting to disappear inside the frame
edge.
Verify visually from the side and from the
front/back that the frame is coming down
completely level against the gearbox. If the
frame is somewhat tilted, adjust the lifting
position with the overhead crane.
Note
While lowering the complete arm system,
check that the cylindrical pin is fitted cor-
rectly.
Lower the complete arm system into posi-
tion on top of the gearbox.
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Product manual - IRB 6720
3HAC085697-001 Revision: C