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Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
3HAC026876-001 Revision: C
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the
air pressure to motors and SMB.
2. Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease.
3. Clean the pinion and the pinion hole in the
motor, with isopropanol.
NOTE!
If the pinion is damaged the complete wrist unit
must be replaced!
4. Apply a thin film of mineral oil to the pinion
shaft and the pinion hole in order to make the
pinion run smoothly and to achieve an even
friction torque when assembling the pinion.
5. Place the motor and pinion in the press fixture. Art. no. is specified in
6. Press the pinion onto the new motor and check
the pressing force.
For an axis diameter of 15.5 mm, use min.
pressing force: 18.5 kN and max. pressing
force: 39.5 kN.
7. Measure the distance between the motor
flange and the outer surface of the pinion with
the measuring tool.
Modify the distance with shims in order to
obtain the same distance as measured when
dismounting the old motor (+ 0-0,05 mm).
8. In order to release the brake, connect the 24
VDC power supply.
9. Fit the two guide pins in two of the motor
attachment holes.
4.6.5. Replacement of motor, axis 5. IRB 6640
Note
Art. no. is specified in
equipment on page
Art. no. is specified in
equipment on page
Replacing the complete wrist unit is
detailed in section
complete wrist unit on page
Art. no. is specified in
equipment on page
equipment on page
If the pressing force is outside the
given range or if the pinion "jumps" in
bit by bit, it must be dismounted,
checked, cleaned and oiled before it is
assembled once again!
Art. no. is specified in
equipment on page
Connect to either:
- connector R4.MP5 (in the motor):
•
+: pin 2
•
-: pin 5
- connector R3.MP5 (on the separate
cable, if not removed):
•
+: pin C
•
- : pin D
Art. no. is specified in
equipment on page
4 Repair
Continued
Required
326.
Required
326.
Replacement of
252.
Required
326.
Required
326.
Required
326.
Required
326.
Continues on next page
329
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