ABB IRB 6650S - 200/3.0 Product Manual page 332

4 Repair
4.6.5. Replacement of motor, axis 5
Continued
10. Fit the motor, with guidance from the pins,
11. Secure the motor with four attachment screws
12. Disconnect the brake release voltage.
13. Refit theseparate cable of the axis 5 motor and
14. Refit the cable gland cover at the cable exit
15. Refit the cover on top of the motor with its four
16. Perform a leak-down test.
17. Refit the wrist unit.
18. Refill the gear with oil.
19. Recalibrate the robot.
20.
330
Action
9. Fit the two guide pins in two of the motor
attachment holes.
making sure the motor pinion is properly mated
to the gear of axis 5.
and plain washers.
reconnect all connectors beneath the motor
cover.
with its two attachment screws.
attachment screws.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
Note
Art. no. is specified in
equipment on page
Make sure the motor pinion does not
get damaged!
4 pcs: M8 x 25; tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Detailed in section
down test on page
Detailed in section
on page
Detailed in section
gearbox, axis 5 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
38.
Required
326!
Performing a leak-
200.
Refitting, wrist unit
247.
Oil change,
169.
Calibration
365.
Continues on next page
3HAC020993-001 Revision: G