ABB Robotics IRB 4600 Manual page 293

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Product manual - IRB 4600
3HAC033453-001 Revision: Y
Action
Disconnect the motor cables.
Only applicable to axis-3 motor!
Remove the bracket from the axis-3 motor.
In order to release the brakes of the motor to
be removed, connect the 24 VDC power supply
to the motor connector.
Tip
For axis-2 and axis-3 motors: release the mo-
tor brake until the arm firmly rests on the
damper for each axis respectively. See posi-
tions in Position of robot on page
Note
Whenever parting/mating motor and gearbox,
the gears may be damaged if excessive force
is used!
© Copyright 2009-2021 ABB. All rights reserved.
4.7.1 Removing motors
Note
Note
When removing the axis-3 motor, the
cables of the axis-4, axis-5 and axis-6
motors must be disconnected too. This
must be done in order to be able to
remove the bracket on top of the axis-
3 motor.
xx0800000390
Parts:
• A: Axis-3 motor
• B: Bracket
Connectors:
• Axis-1 motor: R2.MP1
• Axis-2 motor: R2.MP2
• Axis-3 motor: R2.MP3
• Axis-4 motor: R2.MP4
• Axis-5 motor: R2.MP5
• Axis-6 motor: R2.MP6
Connect to pins:
• + : pin 2
290.
• -: pin 5
CAUTION
The connections for the motor brakes
(24 VDC connection) are phase de-
pendent. If the connection on the pins
is switched, it can cause severe dam-
age to vital parts.
Continues on next page
4 Repair
Continued
293