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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Action
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!
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.
Place the motor and pinion in a press fixture.
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.
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 ob-
tain the same distance as measured when
dismounting the old motor (+ 0-0,05 mm).
In order to release the brake, connect the 24
VDC power supply.
Fit the two guide pins in two of the motor attach-
ment holes.
Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of axis 5.
Secure the motor with four attachment screws
and plain washers.
Disconnect the brake release voltage.
Refit the separate cable of the axis-5 motor
and reconnect all connectors beneath the mo-
tor cover.
Refit the cable gland cover at the cable exit
with its two attachment screws.
Refit the cover on top of the motor with its four
attachment screws.
Perform a leak-down test.
Refit the wrist unit.
© Copyright 2004-2018 ABB. All rights reserved.
4.6.5 Replacement of motor, axis 5
Note
Art. no. is specified in
Required equip-
ment on page
343.
Replacing the complete wrist unit is
detailed in section
Replacement of
complete wrist unit on page
Art. no. is specified in
Required equip-
ment on page
343.
If the pressing force is outside the giv-
en range or if the pinion "jumps" in bit
by bit, it must be dismounted, checked,
cleaned and oiled before it is as-
sembled once again!
Art. no. is specified in
Required equip-
ment on page
343.
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
Required equip-
ment on page
343.
Make sure the motor pinion does not
get damaged!
4 pcs: M8 x 25; tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Detailed in the section
Performing a
leak-down test on page
212.
Detailed in the section
Refitting, wrist
unit on page
261.
Continues on next page
4 Repair
Continued
258.
347
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