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4 Repair
4.6.3 Replacement of motor, axis 3
Continued
10
11
12
13
14
15
16
17
18
19
20
Continues on next page
336
Action
Use the rotation tool in order to rotate the motor
pinion when mating it to the gear!
Fit the motor, making sure the motor pinion is
properly mated to the gear of gearbox, axis 3.
Remove the guide pins.
Secure the motor with four attachment screws
and plain washers.
Disconnect the brake release voltage.
Reconnect all connectors beneath the motor
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.
Remove the equipment used to unload the upper
arm.
Perform a leak-down test.
Refill the gearbox with oil.
Recalibrate the robot!
© Copyright 2004-2018 ABB. All rights reserved.
Note
Art no. is specified in
Required
equipment on page
331.
Make sure the motor pinion does
not get damaged!
Make sure the motor is turned the
right direction, that is the cables fa-
cing forwards.
xx0200000165
The rotation tool is used beneath
the motor cover, directly on the mo-
tor shaft as shown in figure above.
•
A: Rotation tool.
4 pcs: M10 x 40, tightening torque:
50 Nm.
Connect in accordance with mark-
ings on connectors.
Make sure the cover is tightly
sealed!
Shown in the figure
Location of mo-
tor on page
331.
Make sure the cover is tightly
sealed!
Detailed in the section
Performing
a leak-down test on page
Detailed in the section
Changing oil,
axis-3 gearbox on page
180.
Pendulum Calibration is described
in Operating manual - Calibration
Pendulum, enclosed with the calib-
ration tools.
Axis Calibration is described in
ibrating with Axis Calibration meth-
od on page
401.
General calibration information is
included in section
Calibration on
page
389.
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
212.
Cal-
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