ABB OmniCore IRB 6740, Product Manual

Page: 397 / 664

Note Article number Equipment
Used to rotate the motor pinion.
Add screw M4. 3HAB7887-1 Rotation tool M4
Always use guide pins in pairs. 3HAC15521-2 Guide pin, M10x150
300 mm, bits 1/2" 3HAC12342-1 Bits extender
Used to push out the motor, if
necessary.
Always use removal tools in
pairs. 3HAC14631-1 Removal tool motor M12
Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot. 3HAC074564-001
(axes 1, 2, 3 and 4)
3HAC074119-001
(axes 5 and 6) Calibration toolbox, Axis Calibra-
tion
Content is defined in section
Standard toolkit on page 652 .
- Standard toolkit
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the motor
Note Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure. 1
See Draining the axis-3 gearbox on
page 148 .
Drain the axis-3 gearbox. 2
xx2200001810
Unload the upper arm using one of these meth-
ods:
• Use caution and jog axis-3 to m
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.
3
Continues on next page
Product manual - IRB 6740 397
3HAC085701-001 Revision: A
© Copyright 2023 ABB. All rights reserved.
5 Repair
5.8.3 Replacing the axis-3 motor
Continued