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4 Repair
4.6.4 Replacement of motor, axis 4
Continued
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
1
2
3
4
5
6
7
8
9
10
11
12
Continues on next page
340
Action
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.
Move the robot to a position where the upper
arm is pointed straight up.
This position enables the motor to be re-
placed without draining the gear oil, which
in turn saves time.
Any other position of the upper arm requires
a draining of oil from the gearbox for axis 4.
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 cable gland cover at the cable
exit of the motor by unscrewing its two at-
tachment screws.
Remove the cover on top of the motor by
unscrewing its four attachment screws.
Disconnect all connectors beneath the motor
cover.
In order to release the brake, connect the
24 VDC power supply.
Unscrew the motors four attachment screws
and plain washers.
Fit the two guide pins in two of the motor
attachment screw holes.
If required, press the motor out of position
by fitting removal tool, motor to the motor
attachment screw holes.
Lift the motor to get the pinion away from
the gear and disconnect the brake release
voltage.
Remove the motor by gently lifting it straight
out.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Note
Draining of oil is described in section
Draining, oil on page
183.
Shown in the figure
Location of motor on
page
338.
Make sure the gasket is not damaged!
Connect to connector R2.MP4
•
+: pin 2
•
-: pin 5
Shown in the figure
Location of motor on
page
338.
Art. no. is specified in
Required equipment
on page
338.
Always use the removal tools in pairs!
Make sure the motor pinion is not dam-
aged!
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
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