ABB IRB 6650S Series Product Manual page 327

Removal, motor
The procedure below details how to remove the motor, axis 2.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
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 proced-
ure.
Move the robot to a position close
enough to its calibration position, to
allow the lock screw to be inserted
into the hole for lock screw .
DANGER
Turn off all:
• electric power supply to the
robot
• hydraulic pressure supply to
the robot
• air pressure supply to the ro-
bot
Before entering the robot working
area.
Lock the lower arm by inserting the
lock screw into the hole.
Drain the oil from gearbox, axis 2.
Remove the cover on top of the mo-
tor by unscrewing its four attach-
ment screws.
Remove the cable gland cover at the
cable exit by unscrewing its two at-
tachment screws.
Disconnect all connectors beneath
the motor cover.
© Copyright 2004-2018 ABB. All rights reserved.
4.6.2 Replacement of motor axis 2
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
routine on page 402.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Shown in the figure Location of motor on page
Art. no. and dimension is specified in
equipment on page 325.
Detailed in the section Changing oil, axis-2 gear-
box on page 177.
Shown in the figure Location of motor on page
Make sure the gasket is not damaged!
Continues on next page
4 Repair
Continued
Reference calibration
325.
Required
325.
327