ABB IRB 6600 - 225/2.55 type B Product Manual page 342

4 Repair
4.6.1. Replacement of motor, axis 1
Continued
340
Action
3.
CAUTION!
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
4. Apply the lifting tool, motor axis 1, 4, 5 to the motor. Art no. is specified in
5. In order to release the brake, connect the 24 VDC
power supply.
6. Fit the motor, making sure the motor pinion is
properly mated to gearbox of axis 1.
7. Secure the motor with its four attachment screws
and plain washers.
8. Disconnect the brake release voltage.
9. Reconnect all connectors beneath the motor cover.
10. Refit the cable gland cover at the cable exit with its
two attachment screws.
11. Refit the motor cover with its four attachment
screws.
12. Recalibrate the robot!
13.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in section DANGER - First test run may
cause injury or damage! on page
Note
equipment on page
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Make sure the motor is turned the
correct way, i.e. connection of
motorcableforwards..
Make sure the motor pinion does
not get damaged!
M10 x 40, tightening torque: 50
Nm.
Make sure the cover is tightly
sealed!
Make sure the cover is tightly
sealed!
Calibration is detailed in a
separate calibration manual,
enclosed with the calibration tools.
General calibration information is
included in section
information on page
38.
3HAC023082-001 Revision: E
Required
337!
Calibration
409.
Continues on next page