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Replacement of the motor axis 6 (Foundry Prime)
Robots working with Foundry Prime and that have the special tightness for this application
require special repair routines to maintain the tightness level.
The repair must be done according to the previous repair procedure with the following
additions.
3HAC023082-001 Revision: E
4.6.7. Replacement of motor, axis 6, IRB 6600 and IRB 6650
Action
9. Reconnect all connectors beneath the motor
cover.
10. Refit the cover on top of the motor with its five
attachment screws.
11.
NOTE!
On Foundry Prime robots:
When changing motor, keep the cover from the
old motor.
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
Action
1. Move the robot to a position where the motor in
axis 6 is pointed straight up. This position
enables the motor to be replaced without
draining the gear oil, which in turn saves time.
2. Move the robot to one of the recommended
positions:
•
to a position where the motor in axis 6
is pointed straight up. This position
enables the motor to be replaced
without draining the gear oil, which in
turn saves time.
•
to a position where the motor in axis 6
is close to horizontal. This position may
be selected when the gearbox is to be
replaced, i.e. when the gearbox oil has
to be drained anyway.
Note
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.
Note/Illustration
4 Repair
Continued
Calibration
409.
Continues on next page
377
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