ABB Robotics IRB 6790 Product Manual page 452

4 Repair
4.7.3 Replacing the axis-3 motor
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Action
DANGER
When releasing the holding brakes of the
motor, the upper arm will be movable and
may fall down if not secured. Verify that
the upper arm is secured as previously
described, before continuing.
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP3:
• + = pin 2
• - = pin 5
Unscrew the attachment screws that hold
the motor.
Use a bits extender to reach the screws.
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 position
by using the removal tool in the remaining
holes for the motor.
Use caution and lift the motor out on the
guide pins, in order to get the pinion away
from the gear, and let the motor rest on
the guide pins.
CAUTION
The motor weighs 26 kg.
All lifting accessories used must be sized
accordingly.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
Bits extender: 3HAC12342-1
xx1200001126
Guide pin, M10x150: 3HAC15521-2
Always use guide pins in pairs.
Removal tool M12: 3HAC057339-002
Always use removal tools in pairs.
Product manual - IRB 6790
3HAC063331-001 Revision: B