Required tools and equipment
NoteArticle numberEquipment
User instructions are enclosed
with the tool.
3HAC081310-001Brake release tool
Always use guide pins in pairs.3HAC15521-2Guide pin, M10x150
300 mm, bits 1/2"3HAC12342-1Bits extender
Used to push out the motor, if
necessary.
Always use removal tools in
pairs.
3HAC14631-1Removal tool motor M12
Used to rotate the motor pinion.
Add screw M4.
3HAB7887-1Rotation tool M4
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 motor
NoteAction
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
1
xx2200001812
Jog the robot into position:
• Axis 1: no significance
• Axis 2: -65°
• Axis 3: upper arm pointing straight up (if
possible).
• Axis 4: no significance
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no need to
drain oil from the axis-4 gearbox when the motor
is replaced.
2
Continues on next page
Product manual - IRB 6710 393
3HAC085695-001 Revision: A
© Copyright 2023 ABB. All rights reserved.
5 Repair
5.7.4 Replacing the axis-4 motor
Continued
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