Motors Axes 1-3 - ABB IRB 6400R Product On-Line Manual

Motors Axes 1-3

3.2 Motor axes 2 and 3
Refer to foldout 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. Release the breaks on that axis where the motor change should be done, to ensure
that the manipulator axis is disengaged or in what way the axis is moving.
2. Then you can lock the axis into place by mounting a moveable stop, to prevent the
axis from falling.
3. Drain the gearbox oil (see Chapter 2.6, Oil change gear box, axes 2 and 3) and
unscrew the motor flange, 4 screws <104>.
4. Unscrew the 3 screws on the top of the motor <3-5>. Remove the cover.
5. Disconnect connectors R2.MP1 and R2.FB1 from the motor.
6. 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 and turn the motor out and minimise the risk
of damaging the pinion and gear.
7. Attach a hoist and the lifting device (3HAC 6876-1) to the motor. The weight of
the motor is 17 kg.
8. 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:
9. Ensure that sealing surfaces are clean and not scratched.
10. Apply oil to the sealing surfaces to ensure that the O-ring runs smoothly.
11. Attach a hoist and the lifting device (3HAC 6876-1) to the motor.
12. Release the breaks and turn the motor carefully so that the pinion and the gears in
the gearbox fit together.
13. Refit the connectors and the cover.
14. Apply Loctite 243 to the four screws and tighten with a torque of 50 Nm.
15. Calibrate the robot as described in Chapter 9, Calibration.
Tightening torque:
Screws for motor, item 4, 5:
14
50 Nm.
Repairs
Product Manual IRB 6400R