ABB OmniCore IRB 6740 Product Manual

NoteArticle numberEquipmentUsed to rotate the motor pinion.Add screw M4.3HAB7887-1Rotation tool M4Always use guide pins in pairs.3HAC15521-2Guide pin, M10x150300 mm, bits 1/2"3HAC12342-1Bits extenderUsed to push out the motor, ifnecessary.Always use removal tools inpairs.3HAC14631-1Removal tool motor M12Delivered as a set of calibrationtools.Required if Axis Calibration is thevalid calibration method for therobot.3HAC074564-001(axes 1, 2, 3 and 4)3HAC074119-001(axes 5 and 6)Calibration toolbox, Axis Calibra-tionContent is defined in sectionStandard toolkit on page 652.-Standard toolkitRemoving the motorUse these procedures to remove the motor.Preparations before removing the motorNoteActionDecide which calibration routine to use, and takeactions accordingly prior to beginning the repairprocedure.1See Draining the axis-3 gearbox onpage 148.Drain the axis-3 gearbox.2xx2200001810Unload the upper arm using one of these meth-ods:• Use caution and jog axis-3 to maximum +position. Release the brakes and let theupper arm rest against the axis-3 damper.Position shown in figure.• Robot in synchronization position: use afork lift to rest the upper arm onto.• Robot in synchronization position: use lift-ing slings and an overhead crane to restthe upper arm onto.3Continues on next pageProduct manual - IRB 6740 3973HAC085701-001 Revision: A© Copyright 2023 ABB. All rights reserved.5 Repair5.8.3 Replacing the axis-3 motorContinued