ABB IRB 6650S - 200/3.0 Product Manual page 325

Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
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. Make sure the o-ring on the circumference
of the motor is seated properly. Lightly
lubricate the o-ring with grease.
3. Fit the lifting tool to the motor.
4. In order to release the brakes, connect the
24 VDC power supply.
5. Fit the two guide pins in two of themotor
attachment holes.
6. Fit the motor, with guidance of the pins,
making sure the motor pinion is properly
mated to the gear of gearbox 4.
7. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear!
Fit the motor, making sure the motor pinion
is properly mated to the gear, axis 4.
4.6.4. Replacement of motor, axis 4
Note/Illustration
Art. no. is specified in Required
equipment on page 321!
Choose the correct lifting tool:
• lifting tool, motor axis 1, 4 and 5, if
the upper arm is positioned
vertically
• lifting tool, motor axis 2, 3 and 4, if
the upper arm is positioned hori-
zontally.
Art. no. is specified in Required
equipment on page 321.
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
Art. no. is specified in Required
equipment on page 321!
Shown in the figure Location of motor on
page 320!
Make sure the motor pinion does not get
damaged!
Art. no. is specified in Required
equipment on page 321!
Make sure the motor pinion does not get
damaged!
Make sure the motor is turned the right
direction, i.e. the cables facing forwards.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft as
shown in figure above.
• A: Rotation tool.
Continues on next page
4 Repair
Continued
323