ABB IRB 7600 Series Product Manual page 379

Removal, gearbox axis 4
The procedure below details how to remove gearbox, 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.
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.
Drain the oil from the primary gearbox through the
oil plug, draining.
Drain the oil from the secondary gearbox through
the oil plug, draining.
Remove the plastic housing from the cover, axis 4
gearbox.
Remove the cover, axis 4 gearbox by unscrewing
its attachment screws.
Loosen the gear attachment screws but do not re-
move the gear Z3.
Remove the motor, axis 4.
Remove gear Z3 from the gearbox by unscrewing
the 15 gear attachment screws.
If required, insert screws into three holes in gear Z3
to press it out.
© Copyright 2007 - 2018 ABB. All rights reserved.
4.7.4 Replacement of gearbox, 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 further in section
Changing oil, axis-4 gearbox on
page 193.
Shown in the figure
gearbox on page
Draining is further detailed in
section Changing oil, axis-4
gearbox on page
Shown in the figure
gearbox on page
Shown in the figure
gearbox on page
Detailed in section
motor axis 4 on page
Shown in the figure
gearbox on page
Continues on next page
4 Repair
Continued
Location of
377.
193.
Location of
377.
Location of
377.
Removal,
333.
Location of
377.
379