ABB IRB 6710, Руководство по эксплуатации продукта, Страница: 419 / 640

Required tools and equipment
Note Article number Equipment
User instructions are enclosed
with the tool. 3HAC081310-001 Brake release tool
Used to push out the motor, if
necessary. 3HAC14972-1 Removal tool motor M10
Always use guide pins in pairs. 3HAC15520-2 Guide pin, M8x150
Used to rotate the motor pinion.
Add screw M3. 3HAB7887-1 Rotation tool M3
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 628 .
- Standard toolkit
Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
xx2200002146
Jog the robot to a position where axis 5
can be positioned with the axis-6 motor
pointing straight up at an acceptable
working position.
With axis 5 in this position it is possible to
replace the axis-6 motor without draining
the oil from the axis-6 gearbox. 2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
3
Continues on next page
Product manual - IRB 6710 419
3HAC085695-001 Revision: A
© Copyright 2023 ABB. All rights reserved.
5 Repair
5.7.6 Replacing the axis-6 motor
Continued