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4 Repair
4.6.1 Replacement of motor, axis 1
Continued
Removal, motor axis 1
The procedure below details how to remove motor, axis 1.
1
2
3
4
5
6
7
Continues on next page
322
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.
Remove the cover for connector access on top of
the motor by unscrewing its four attachment screws.
Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
Note
Make sure the gasket is not damaged!
Disconnect all connectors beneath the motor cover.
Apply lifting tool, motor axis 1, 4, 5 to the motor.
In order to release the brakes, connect the 24 VDC
power supply.
© Copyright 2004-2018 ABB. All rights reserved.
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
402.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
xx0200000199
•
A: Cable gland cover
Art. no. is specified in
equipment on page
Connect to connector R2.MP1
•
+: pin 2
•
-: pin 5
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Required
320.
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