ABB IRB 6650S - 200/3.0 Product Manual page 305

Replacement of the motor axis 1 (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 repair chapter in the Product Manual with the
following additions.
3HAC020993-001 Revision: G
Action
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
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.
4.6.1. Replacement of motor, axis 1
Note
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.
Note/Illustration
4 Repair
Continued
Calibration
365.
Continues on next page
303