ABB IRB 6700 - Page 7

2464.5 Upper and lower arms ........................................................................................
2464.5.1 Replacing the upper arm ..........................................................................
2744.5.2 Replacing the wrist .................................................................................
2944.5.3 Replacing the turning disk ........................................................................
2974.5.4 Replacing the lower arm ..........................................................................
3404.6 Frame and base ................................................................................................
3404.6.1 Replacing spherical roller bearing, link ear ...................................................
3544.6.2 Replacing the balancing device .................................................................
3674.6.3 Replacing the rear bearing of the balancing device ........................................
3764.6.4 Replacing the stop pin .............................................................................
3794.6.5 Unloading the balancing device .................................................................
3834.6.6 Restoring the balancing device .................................................................
3864.7 Motors ............................................................................................................
3864.7.1 Replacing the axis-1 motor .......................................................................
3964.7.2 Replacing the axis-2 motor .......................................................................
4074.7.3 Replacing the axis-3 motor .......................................................................
4184.7.4 Replacing the axis-4 motor .......................................................................
4274.7.5 Replacing the axis-5 motor .......................................................................
4404.7.6 Replacing the axis-6 motor .......................................................................
4494.8 Gearboxes .......................................................................................................
4494.8.1 Replacing the axis-1 gearbox ....................................................................
4774.8.2 Replacing the axis-2 gearbox ....................................................................
5054.8.3 Replacing the axis-3 gearbox ....................................................................
5294.8.4 Replacing the axis-6 gearbox ....................................................................
5375 Calibration information
5375.1 Introduction .....................................................................................................
5385.2 Calibration methods ...........................................................................................
5405.3 Calibration scale and correct axis position .............................................................
5415.4 Calibration movement directions for all axes ..........................................................
5425.5 Updating revolution counters ...............................................................................
5445.6 Checking the calibration position ..........................................................................
5456 Decommissioning
5456.1 Environmental information ..................................................................................
5466.2 Scrapping of robot .............................................................................................
5476.3 Decommissioning of balancing device ...................................................................
5517 Reference information
5517.1 Introduction ......................................................................................................
5527.2 Applicable safety standards ................................................................................
5547.3 Unit conversion .................................................................................................
5557.4 Screw joints ....................................................................................................
5587.5 Weight specifications .........................................................................................
5597.6 Standard toolkit ................................................................................................
5607.7 Special tools ....................................................................................................
5647.8 Lifting accessories and lifting instructions ..............................................................
5658 Spare parts
5658.1 Spare part lists and illustrations ...........................................................................
5679 Circuit diagrams
5679.1 About circuit diagrams .......................................................................................
569Index
3HAC044266-001 Revision: - 7
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