ABB IRB 6650S - 200/3.0 Product Manual page 324

4 Repair
4.6.4. Replacement of motor, axis 4
Continued
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
10. Lift the motor to get the pinion away from the
11. Remove the motor by gently lifting it straight
322
Action
1. Move the robot to a position where the upper
arm is pointed straight up.
This position enables the motor to be
replaced without draining the gear oil, which
in turn saves time.
Any other position of the upper arm requires
a draining of oil from the gearbox for axis 4.
2.
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.
3. Remove the cable gland cover at the cable
exit of the motor by unscrewing its two
attachment screws.
4. Remove the cover on top of the motor by
unscrewing its four attachment screws.
5. Disconnect all connectors beneath the
motor cover.
6. In order to release the brake, connect the 24
VDC power supply.
7. Unscrew the motors four attachment screws
and plain washers.
8. Fit the two guide pins in two of the motor
attachment screw holes.
9. If required, press the motor out of position by
fitting removal tool, motor to the motor
attachment screw holes.
gear and disconnect the brake release
voltage.
out.
Note
Draining of oil is described in section
Draining, oil on page 167.
Shown in the figure Location of motor on
page 320!
Make sure the gasket is not damaged!
Connect to connector R2.MP4
• +: pin 2
• -: pin 5
Shown in the figure Location of motor on
page 320!
Art. no. is specified in Required
equipment on page 321!
Always use the removal tools in pairs!
Make sure the motor pinion is not
damaged!
Continues on next page
3HAC020993-001 Revision: G