ABB IRB 6650S Series Product Manual page 346

4 Repair
4.6.5 Replacement of motor, axis 5
Continued
9
10
11
12
13
14
15
16
Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
1
2
Continues on next page
346
Action
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.
Fit the two guide pins in two of the motor attach-
ment screw holes.
If required, press the motor out of position by fit-
ting removal tool, motor, M10 to the motor attach-
ment 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.
Measure the distance between the motor flange,
included eventual shims, and the outer surface
of the pinion, with measuring tool.
Press out the pinion from the dismounted motor,
with the equipment included in the oil injector kit.
Note
If the pinion is damaged the complete wrist unit
must be replaced!
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.
Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Connect to either:
- connector R4.MP5 (in the motor):
• + : pin 2
• -: pin 5
- connector R3.MP5 (on the separate
cable, if not removed):
• +: pin C
• -: pin D
Art. no. is specified in Required
equipment on page 343.
Art. no. is specified in Required
equipment on page 343.
Always use the removal tools in
pairs and diagonally!
Make sure the motor pinion is not
damaged!
Keep track of the shims between the
motor flange and the wrist housing.
Art. no. is specified in Required
equipment on page 343.
Make a note of the distance.
Replacing the complete wrist unit is
detailed in section Replacement of
complete wrist unit on page
Art. no. is specified in Required
equipment on page 343.
Note
Art. no. is specified in Required equip-
ment on page 343.
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
258.