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4 Repair
4.6.6 Replacement of motor, axis 6
Continued
3
4
5
6
7
8
9
10
Refitting, motor
The procedure below details how to refit motor, axis 6.
1
2
3
4
5
6
Continues on next page
352
Action
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 rear motor cover by unscrewing the
five attachment screws.
Disconnect all connectors beneath the cover.
In order to release the brake, connect the 24 VDC
power supply.
Remove the motor by unscrewing its four attach-
ment screws and plain washers.
If required, press the motor out of position by fitting
removal tool, motor to the motor attachment screw
holes.
Lift the motor carefully to get the pinion away from
the gear and disconnect the brake release voltage.
Remove the motor by gently lifting it straight out.
Note
Robots with protection type Foundry Plus or Foundry Prime require special repair
routines to maintain the tightness level, in addition to the procedure below,
described in
Replacement of the motor axis 6 (Foundry Plus) on page
Action
Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease.
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 gearbox, axis 6.
Remove the guide pins.
Secure the motor with its four attachment screws
and plain washers.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Connect to connector R3.MP6
•
+: pin 2
•
-: pin 5
Art. no. is specified in
Required
equipment on page
349.
Always use the removal tools in
pairs!
Make sure the motor pinion is not
damaged!
Note
Art. no. is specified in
Required
equipment on page
349.
Connect to connector R3.MP6
•
+: pin 2
•
-: pin 5
Art. no. is specified in
Required
equipment on page
349.
Make sure the pinion on the motor
shaft is not damaged!
4 pcs: M8 x 25, tightening torque: 24
Nm.
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
353.
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