ABB Robotics IRB 6790 Product Manual page 465

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Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP4:
• + = pin 2
• - = pin 5
Unscrew the attachment screws that secure
the motor.
Apply two guide pins in opposite holes.
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
Press the motor out of position by fitting
the removal tool in the remaining attach-
ment holes for the motor.
CAUTION
The motor weighs 13 kg.
All lifting accessories used must be sized
accordingly.
Disconnect the 24 VDC power supply.
Remove the motor by carefully lifting it
straight out/straight up (if the upper arm
points upwards).
Make sure the pinion is not damaged.
© Copyright 2019 - 2020 ABB. All rights reserved.
4.7.4 Replacing the axis-4 motor
Note
xx1200001137
Guide pin, M8x150: 3HAC15520-2
Always use guide pins in pairs.
Removal tool M12: 3HAC057339-002
Always use removal tools in pairs.
xx1200001138
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4 Repair
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