ABB IRB 6650S - 200/3.0 Product Manual page 331

15. Press out the pinion from the dismounted motor,
Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
3HAC020993-001 Revision: G
Action
with the equipment included in the oil injector kit.
Note! If the pinion is damaged the complete wrist
unit must be replaced!
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. Clean the motor pinion and the motor pinion
hole in the motor, with isopropanol.
Note!If the pinion is damaged the complete
wrist unit must be replaced!
4. Apply a thin film of mineral oil to the pinion
shaft and the pinion hole in order to make the
pinion run smoothly and to achieve an even
friction torque when assembling the pinion.
5. Place the motor and pinion in the press fixture. Art. no. is specified in
6. Press the pinion onto the new motor and check
the pressing force.
For an axis diameter of 15.5 mm, use min.
pressing force: 18.5 kN and max. pressing
force: 39.5 kN.
7. Measure the distance between the motor
flange and the outer surface of the pinion with
the measuring tool.
Modify the distance with shims in order to
obtain the same distance as measured when
dismounting the old motor (+ 0-0,05 mm).
8. In order to release the brake, connect the 24
VDC power supply.
4.6.5. Replacement of motor, axis 5
Note
Replacing the complete wrist unit is
detailed in section Replacement of
complete wrist unit on page
no. is specified in Required
equipment on page 326.
Note
Art. no. is specified in Required
equipment on page 326!
Art. no. is specified in Required
equipment on page 326!
Replacing the complete wrist unit is
detailed in section Replacement of
complete wrist unit on page
Art. no. is specified in Required
equipment on page 326!
Required
equipment on page 326!
If the pressing force is outside the
given range or if the pinion "jumps" in
bit by bit, it must be dismounted,
checked, cleaned and oiled before it is
assembled once again!
Art. no. is specified in Required
equipment on page 326.
Connect to either:
- connector R4.MP5 (in the motor):
• +: pin 2
• -: pin 5
- connector R3.MP5 (on the separate
cable, if not removed):
• +: pin C
• - : pin D
Continues on next page
4 Repair
Continued
245. Art.
245.
329