ABB IRB 6650S - 200/3.0 Product Manual page 312

4 Repair
4.6.2. Replacement of motor axis 2
Continued
310
Action
9. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to the
gear of gearbox axis 2 and that it doesn´t get
damaged.
10. Remove the guide pins.
11. Secure the motor with four attachment screws
and plain washers.
12. Disconnect the brake release voltage.
13. Reconnect all connectors beneath the motor
cover.
14. Refit the cable gland cover at the cable exit
with its two attachment screws.
15. Refit the cover on top of the motor with its four
attachment screws.
16. Remove the lock screw from the hole for lock
screw.
17. Perform a leak down test.
18. Refill the gearbox with oil.
19. Recalibrate the robot.
20.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
Note/Illustration
Art. no. is specified in
equipment on page
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in figure above.
•
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 384
Connect in accordance with markings
on connectors.
Shown in the figure
page
Make sure the cover is tightly sealed!
Shown in the figure
page
Detailed in
on page
Detailed in section
axis 2 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
38.
Required
306!
A: Rotation tool
before fitting.
Location of motor on
306!
Location of motor on
306!
Performing a leak-down test
200.
Oil change, gearbox
160.
Calibration
365.
Continues on next page
3HAC020993-001 Revision: G