ABB Robotics IRB 6790 Product Manual page 440

4 Repair
4.7.2 Replacing the axis-2 motor
Continued
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Refitting the motor
These procedures describes how to refit the motor.
Preparations prior to refitting motor
1
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440
Action
Fit guide pins in opposite holes.
Tip
Lubricate the guide pins with some grease
to make the motor slide better.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
If required, press the motor out of its posi-
tion by using the removal tool in opposite
holes of the motor.
Disconnect the 24 VDC power supply.
CAUTION
The motor weighs 28 kg.
All lifting accessories used must be sized
accordingly.
Carefully lift the motor out on the guide
pins, in order to get the pinion away from
the gear and let it rest on the guide pins.
Fasten the lifting accessory. Attach the
lifting chain to the accessory and an over-
head crane.
Remove the motor by sliding it out on the
guide pins and lift it off.
Action
DANGER
Make sure that all supplies for electrical power
and hydraulic pressure are turned off.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
Guide pin, M10x150: 3HAC15521-2
Always use guide pins in pairs.
Removal tool M12: 3HAC057339-002
Always use removal tools in pairs.
Lifting accessory, motor: 3HAC15534-1
Lifting accessory (chain): 3HAC15556-1
Make sure the pinion is not damaged.
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Note
Product manual - IRB 6790
3HAC063331-001 Revision: B