ABB IRB 6650S - 200/3.0 Product Manual page 337

Refitting, motor
The procedure below details how to refit motor, axis 6.
3HAC020993-001 Revision: G
Action
3. Remove the rear motor cover by unscrewing the five
attachment screws.
4. Disconnect all connectors beneath the cover.
5. In order to release the brake, connect the 24 VDC
power supply.
6. Remove the motor by unscrewing its four
attachment screws and plain washers.
7. If required, press the motor out of position by fitting
removal tool, motor to the motor attachment screw
holes.
8. Lift the motor carefully to get the pinion away from
the gear and disconnect the brake release voltage.
9. Remove the motor by gently lifting it straight out.
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. In order to release the brake, connect the 24
VDC power supply.
4. Fit the two guide pins in two of the motor
attachment holes.
5. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of gearbox, axis 6.
6. Remove the guide pins.
7. Secure the motor with its four attachment screws
and plain washers.
8. Disconnect the brake release voltage.
4.6.6. Replacement of motor, axis 6
Note
Connect to connector R3.MP6
• +: pin 2
• -: pin 5
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws (4
pcs)
Art. no. is specified in
equipment on page 333!
Always use the removal tools in
pairs!
Make sure the motor pinion is not
damaged!
Note
Art. no. is specified in Required
equipment on page 333!
Connect to connector R3.MP6
• +: pin 2
• -: pin 5
Art. no. is specified in Required
equipment on page 333!
Make sure the pinion on the motor
shaft is not damaged!
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws
4 pcs: M8 x 25, tightening torque: 24
Nm.
Continues on next page
4 Repair
Continued
Required
335