ABB IRB 6650S - 200/3.0 Product Manual page 317

Equipment, etc. Spare part no.
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
Circuit Diagram
Removal, motor
The procedure below details how to remove motor, axis 3.
3HAC020993-001 Revision: G
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. Unload the upper arm of the robot by either:
• Use a fork lift to rest the upper arm onto.
• Use lifting slings and an overhead crane to
rest the upper arm.
• Use a mechanical stop to rest the upper arm.
Fit the mechanical stop in the attachment
hole (A) with tightening torque: 115 Nm.
The upper arm must be positioned as horizontal as
possible!
3. Drain the oil from gearbox axis 3.
4. Remove any equipment hindering access to motor
axis 3.
5. Remove the cover on top of the motor by
unscrewing its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two securing screws.
7. Disconnect all connectors beneath the motor cover.
4.6.3. Replacement of motor, axis 3
Art. no. Note
These procedures include
references to the tools
required.
See chapter
the Product manual,
reference
Note/Illustration
xx0300000051
Fit the mechanical stop to the third
and final attachment hole (A),
below the fixed stop (B) in the
upper arm. See the figure above!
Detailed in section
gearbox, axis 3 on page
Shown in the figure
motor on page
Make sure the gasket is not
damaged!
4 Repair
Continued
Circuit diagram in
information.
Oil change,
163.
Location of
313!
Continues on next page
315