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15. Press out the pinion from the dismounted motor,
Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
3HAC023082-001 Revision: E
4.6.5. Replacement of motor, axis 5, IRB 6600 and IRB 6650
Action
with the equipment included in the oil injector kit.
Note! If the pinion is damaged the complete wrist
unit must be replaced!
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. Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the o-ring with grease.
3. Clean the motor pinion and the motor pinion
hole in the motor, with isopropanol.
Note!If the pinion is damaged the complete
wrist unit must be replaced!
4. Apply a thin film of mineral oil to the pinion
shaft and the pinion hole in order to make the
pinion run smoothly and to achieve an even
friction torque when assembling the pinion.
5. Place the motor and pinion in the press fixture. Art. no. is specified in
6. Press the pinion onto the new motor and check
the pressing force.
For an axis diameter of 15.5 mm, use min.
pressing force: 18.5 kN and max. pressing
force: 39.5 kN.
7. Measure the distance between the motor
flange and the outer surface of the pinion with
the measuring tool.
Modify the distance with shims in order to
obtain the same distance as measured when
dismounting the old motor (+ 0-0,05 mm).
Note
Replacing the complete wrist unit is
detailed in section
Replacement of
complete wrist unit, IRB 6600 and
IRB 6650 on page
277. Art. no. is
specified in
Required equipment on
page
364.
Note
Art. no. is specified in
Required
equipment on page
364!
Art. no. is specified in
Required
equipment on page
364!
Replacing the complete wrist unit is
detailed in section
Replacement of
complete wrist unit, IRB 6600 and IRB
6650 on page
277.
Art. no. is specified in
Required
equipment on page
364!
Required
equipment on page
364!
If the pressing force is outside the
given range or if the pinion "jumps" in
bit by bit, it must be dismounted,
checked, cleaned and oiled before it is
assembled once again!
Art. no. is specified in
Required
equipment on page
364.
Continues on next page
4 Repair
Continued
367
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