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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!
Fit the motor, making sure the motor pinion
is properly mated to the gear, axis 4.
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 cover on top of the motor with its
four attachment screws.
Refit the cable gland cover at the cable exit
with its two attachment screws.
Perform a leak-down test if the gearbox has
been drained.
Refill the gearbox with oil if drained.
Recalibrate the robot!
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2004-2022 ABB. All rights reserved.
4.6.4 Replacement of motor, axis 4
Note
Art. no. is specified in
Required equip-
ment on page
317.
Make sure the motor pinion does not get
damaged!
Make sure the motor is turned the right
direction, that is the cables facing for-
wards.
xx0200000165
The rotation tool is used beneath the mo-
tor cover, directly on the motor shaft as
shown in figure above.
•
A: Rotation tool.
4 pcs: M8 x 25, tightening torque: 24 Nm.
Make sure the cover is tightly sealed!
Shown in the figure
Location of motor on
page
317.
Detailed in the section
Performing a leak-
down test on page
190.
Detailed in the section
Filling, oil on
page
163.
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page
379.
General calibration information is included
in section
Calibration on page
4 Repair
Continued
Calibrat-
367.
321
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