ABB IRB 7600 Series Product Manual page 333

Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
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Product manual - IRB 7600
3HAC022033-001 Revision: V
Action
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
Move the upper arm to one of the basic pos-
itions:
• upper arm is pointed straight up. This
position enables the motor to be re-
placed without draining the gear oil,
which in turn saves time.
• upper arm is close to horizontal. This
position is recommended if the gear-
box is also to be replaced, i.e. when
the gearbox oil has to be drained
anyway.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
In horizontal position: unload the upper arm
to avoid movement of the axis, with one of
the given methods:
• move the upper arm to a position
where the turning disk rests against
the foundation (recommended)
• use a fork lift or an overhead crane
and lifting slings to rest the weight of
the upper arm.
In horizontal position: drain the gearbox,
axis 4.
© Copyright 2007 - 2018 ABB. All rights reserved.
4.6.4 Replacement of motor, axis 4
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 409.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Detailed in section Draining, oil, gearbox
axis 4 on page 194.
Continues on next page
4 Repair
Continued
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