NoteArticle numberEquipment
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 axis-5 motor
NoteAction
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
xx2200001814
Jog the robot into position:
• Axis 1: no significance
• Axis 2: suitable working position to
replace axis-5 motor (for example:
+25°)
• Axis 3: suitable working position to
replace axis-5 motor (for example:
+35°)
• Axis 4: +90°
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no
need to drain oil from the axis-5 gearbox
when the motor is replaced.
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
406 Product manual - IRB 6710
3HAC085695-001 Revision: A
© Copyright 2023 ABB. All rights reserved.
5 Repair
5.7.5 Replacing the axis-5 motor
Continued
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