ABB IRB 6700I, Product Manual

Page: 648 / 730

Note Action
CAUTION
The motor weighs 26 kg.
All lifting accessories used must be sized
accordingly.
9
Lifting accessory, motor: 3HAC15534-1 Fasten the lifting accessory to the motor.
Attach the lifting chain to the accessory
and an overhead crane. 10
Lifting accessory (chain): 3HAC15556-1
xx1700000271
When the motor is hanging in the lifting
accessory, and the pinion no longer is
mated to the gear, let the outer end of the
motor hang lower so that it will hang in an
angle. This position makes it easier to re-
move the axis-3 motor with the axis-4 mo-
tor still fitted.
CAUTION
The pinion must have been parted from
the gear before the motor is angled. If not
there is a risk of damaging the pinion and
gear.
11
Disconnect the 24 VDC power supply. 12
Make sure the pinion is not damaged. Remove the motor by lifting it straight out. 13
Removing the cable harness from the upper arm and wrist
The upper arm cabling can stay fitted, if the distance between the axis-3 rotation
centre and the floor does not exceed 2.1 m. If the distance exceeds 2.1 m, the
cabling in the upper arm and the wrist must be removed.
Removal of the cabling in the upper arm and wrist is described in Removing the
cable harness - upper arm and wrist on page 214 .
Attaching the lifting accessories to the upper arm
Use this procedure to attach the lifting accessories to the upper arm.
Note Action
CAUTION
The weight of the complete upper arm (in-
cluding the wrist) is 465 kg
All lifting accessories used must be sized
accordingly.
1
Continues on next page
648 Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
© Copyright 2017 - 2020 ABB. All rights reserved.
4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued