ABB IRB 6650S Series Product Manual page 345

Removal, motor, axis 5
The procedure below details how to remove motor, axis 5.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
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.
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.
Drain the oil from gearbox axis 5.
Remove the wrist unit.
Place the wrist unit safely on a workbench, in a
fixture or similar.
Remove the cover on top of the motor by unscrew-
ing its four attachment screws.
Remove the cable gland cover at the cable exit
by unscrewing its two attachment screws.
Disconnect all connectors beneath the motor
cover and remove the separate cable of the axis-
5 motor.
© Copyright 2004-2018 ABB. All rights reserved.
4.6.5 Replacement of motor, axis 5
Note
Note
Detailed in the section
axis-5 gearbox on page
Detailed in the section
wrist unit on page 260.
xx1400002580
Continues on next page
4 Repair
Continued
Changing oil,
186.
Removal,
345