ABB Robotics IRB 6790 Product Manual page 442

4 Repair
4.7.2 Replacing the axis-2 motor
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Action
CAUTION
The motor weighs 28 kg.
All lifting accessories used must be sized
accordingly.
Apply the lifting accessory.
Note
Make sure the cable gland opening is
turned the correct way.
Lift the motor and put it on the guide pins
as close as possible to its final position
without pushing the motor pinion into the
gear.
Remove the lifting accessory and allow the
motor to rest on the guide pins.
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP2, axis-2 mo-
tor:
• + = pin 2
• - = pin 5
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
Use caution and fit the motor in its final
position while at the same time rotating the
motor pinion slightly using the rotation tool.
• Make sure that the motor pinion is
properly mated to the gear of the
gearbox.
• Make sure that the motor pinion
does not get damaged.
• Make sure that the direction of the
cable exit is facing the correct way.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
Lifting accessory, motor: 3HAC15534-1
Lifting accessory (chain): 3HAC15556-1
xx1200001120
Rotation tool: 3HAB7887-1
Product manual - IRB 6790
3HAC063331-001 Revision: B