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Product manual - IRB 6650S
3HAC020993-001 Revision: AG
Action
Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to
the gear of gearbox axis 2 and that it does
not get damaged.
Remove the guide pins.
Secure the motor with four attachment screws
and plain washers.
Disconnect the brake release voltage.
Reconnect all connectors beneath the motor
cover.
Refit the cable gland cover at the cable exit
with its two attachment screws.
Refit the cover on top of the motor with its
four attachment screws.
Remove the lock screw from the hole for lock
screw.
Perform a leak down test.
Refill the gearbox with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2004-2022 ABB. All rights reserved.
4.6.2 Replacement of motor axis 2
Note
Art. no. is specified in
Required equip-
ment on page
304.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in the figure above.
•
A: Rotation tool
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 411
Connect in accordance with markings
on connectors.
Shown in the figure
Location of motor
on page
304.
Make sure the cover is tightly sealed!
Shown in the figure
Location of motor
on page
304.
Detailed in
Performing a leak-down test
on page
190.
Detailed in the section
Changing oil,
axis-2 gearbox on page
156.
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page
379.
General calibration information is in-
cluded in section
Calibration on
page
367.
4 Repair
Continued
before fitting.
Calibrat-
309
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