ABB Robotics IRB 6790 Product Manual page 556

4 Repair
4.8.2 Replacing the axis-2 gearbox
Continued
4
5
6
Removing the axis-2 motor
1
2
3
Continues on next page
556
Action
Disconnect the motor cables.
Remove the cable gland cover.
Make sure the gasket is not damaged.
Tip
Make a note in which direction the cable
gland hole is facing, if the motor will be re-
moved too. The motor shall be refitted in
the same position.
Use caution and pull out the motor cables.
Action
Before removing the motor, make sure that
the axis-2 gearbox is completely drained.
DANGER
When releasing the holding brakes of the
motor, the lower arm will be movable and
may fall down if not secured. Verify that the
lower arm is secured as previously de-
scribed, before continuing.
To release the brake, connect the 24 VDC
power supply.
Connect to connector R2.MP2, axis-2 mo-
tor:
• + = pin 2
• - = pin 5
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Note
Product manual - IRB 6790
3HAC063331-001 Revision: B