ABB IRB 6400R Product On-Line Manual page 376

Repairs
3 Motors Axes 1-3
3.1 Motor axes 1
Refer to foldout no. 2:5.
Dismounting:
Be careful not to tap or hit the shaft axially, nor displace the shaft axially in any
way, as this could give rise to an incorrect air gap in the brake.
1. Unscrew the motor flange, 4 screws <104>.
2. Unscrew the 3 screws on the top of the motor.<3-5> Remove the cover.
3. Disconnect connectors R2.MP1 and R2.FB1 in the motor.
4. Use a portable power supply 24V DC to release the breaks (pin no.11, +24V and
pin no.12, 0V) so it is possible to pull out and turn the motor and minimise the risk
of damaging the pinion and gear.
5. Attach a hoist and the lifting device (3HAC 6875-1) to the motor. The weight of
the motor is 17 kg.
6. Pull and turn out the motor. In case of difficulty use two screws in the threaded
holes (M8) on the motor flange to push out the motor from its attachment.
Mounting:
7. Ensure that sealing surfaces are clean and not scratched.
8. Apply oil to the sealing surfaces to ensure that the O-ring runs smoothly
9. Release the brakes.
10. Attach a hoist and the lifting device (3HAC 6875-1) to the motor.
11. Turn the motor carefully so that the pinion and the gears in the gearbox fits
together.
12. Apply Loctite 243 to the four screws and tighten with a torque of 50 Nm.
13. Calibrate the robot as described in Chapter 9, Calibration.
14. Refit the connectors and the cover.
Tightening torque:
Screws for motor, item 3:
Product Manual IRB 6400R
50 Nm.
Motors Axes 1-3
13