ABB Robotics IRB 6790 Product Manual page 468

4 Repair
4.7.4 Replacing the axis-4 motor
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Action
Note
Make sure the cable gland opening is
turned the correct way.
CAUTION
The motor weighs 13 kg.
All lifting accessories used must be sized
accordingly.
Apply the rotation tool and use it to rotate
the pinion when mating it into the gear.
This requires two persons co-operating, if
the motor is installed from above (if the
upper arm is pointing upwards).
To release the brakes, connect the 24 VDC
power supply.
Connect to connector R2.MP2:
• + = pin 2
• - = pin 5
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
Push the motor carefully in position while
at the same time rotating the motor pinion
slightly.
• 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 gland is facing the correct
way.
Remove the guide pins.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
xx1200001130
Rotation tool: 3HAB7887-1
Product manual - IRB 6790
3HAC063331-001 Revision: B