ABB IRB 6650S - 200/3.0 Product Manual page 318

4 Repair
4.6.3. Replacement of motor, axis 3
Continued
10. Unscrew the motors four attachment screws and
11. Fit the two guide pins in two of the motor attachment
12. Press the motor out of position by fitting removal
13. Apply the lifting tool, motor axis 2 ,3, 4 to the motor. Art. no. is specified in
14.
15. Lift the motor to get the pinion away from the gear.
16. Remove the motor by gently lifting it straight out and
Refitting, motor
The procedure below details how to refit motor, axis 3.
316
Action
8.
DANGER!
Secure the weight of the upper arm properly before
releasing the brakes of motor, axis 3.
When releasing the holding brakes of the motor, the
upper arm will be movable and may fall down!
9. Release the brake by connecting the 24 VDC power
supply.
plain washers .
screw holes.
tool, motor to the remaining motor attachment
screw holes.
CAUTION!
The motor weighs 27 kg! All lifting equipment used
must be sized accordingly!
disconnect the brake release voltage.
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 it with
grease.
3. Fit the lifting tool, motor axis 2, 3, 4 to the motor. Art no. is specified in
Note/Illustration
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
Shown in the figure Location of
motor on page 313!
Art. no. is specified in Required
equipment on page 314!
Art. no. is specified in Required
equipment on page 314!
Always use the removal tools in
pairs!
Required
equipment on page 314!
Make sure the motor pinion is not
damaged!
Note/Illustration
Art no. is specified in Required
equipment on page 314!
Required
equipment on page 314!
Continues on next page
3HAC020993-001 Revision: G