ABB IRB 6650S - 200/3.0 Product Manual page 304

4 Repair
4.6.1. Replacement of motor, axis 1
Continued
Refitting, motor axis 1
The procedure below details how to refit motor, axis 1.
302
Action
5. Apply lifting tool, motor axis 1, 4, 5 to the motor.
6. In order to release the brakes, connect the 24 VDC
power supply.
7. Remove the motor by unscrewing its four
attachment screws and plain washers.
8. If required, press the motor out of position by fitting
removal tool, motor to the motor attachment screw
holes.
9.
CAUTION!
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
10. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
11. Remove the motor by gently lifting it straight up.
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.
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.
Note/Illustration
Art. no. is specified in Required
equipment on page 300!
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Shown in the figure Location of
motor on page 300!
Art. no. is specified in Required
equipment on page 300!
Always use the removal tools in
pairs!
Note
Art no. is specified in Required
equipment on page 300!
Required
equipment on page 300!
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Continues on next page
3HAC020993-001 Revision: G