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4 Repair
4.6.5. Replacement of motor, axis 5, IRB 6600 and IRB 6650
Continued
Removal, motor, axis 5
The procedure below details how to remove motor, axis 5.
10. Fit the two guide pins in two of the motor
11. If required, press the motor out of position by
12. Lift the motor to get the pinion away from the gear
13. Remove the motor by gently lifting it straight out. Keep track of the shims between the
14. Measure the distance between the motor flange,
366
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Drain the oil from gearbox axis 5.
3. Remove the wrist unit.
4. Place the wrist unit safely on a workbench, in a
fixture or similar.
5. Remove the cover on top of the motor by
unscrewing its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
7. Disconnect all connectors beneath the motor
cover and remove theseparate cable of the axis 5
motor.
8. In order to release the brake, connect the 24 VDC
power supply.
9. Remove the motor by unscrewing its four
attachment screws and plain washers.
attachment screw holes.
fitting removal tool, motor, M10 to the motor
attachment screw holes.
and disconnect the brake release voltage.
included eventual shims, and the outer surface of
the pinion, with measuring tool.
Note
Detailed in section
Oil change,
gearbox, axis 5 on page
194.
Detailed in section
Removal, wrist
unit on page
278.
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
364!
Art. no. is specified in
Required
equipment on page
364!
Always use the removal tools in pairs
and diagonally!
Make sure the motor pinion is not
damaged!
motor flange and the wrist housing.
Art. no. is specified in
Required
equipment on page
364!
Make a note of the distance.
Continues on next page
3HAC023082-001 Revision: E
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