ABB IRB 6600 - 175/2.55 User Manual page 510

3 Repair activities, manipulator
3.5.1 Removal of motor, axis 1
Removal
The procedure below details how to remove motor, axis 1.
Please observe the following before commencing any repair work on the manipulator:
- Motors and gears are HOT after running the robot! Burns may result from touching the
motors or gears!
- Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
- Take any necessary measures to ensure that the manipulator does not collapse as parts are
removed, e.g. to secure the lower arm with fixtures if removing motor, axis 2.
Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force
is used!
Step Action
94
1. Remove the cover for connector access on
top of the motor by unscrewing its four attach-
ment screws.
2. Remove the cable gland cover at the cable
exit by unscrewing its two attachment screws.
3. Disconnect all connectors beneath the motor
cover.
4. Apply lifting tool, motor axis 1, 4, 5 to the
motor.
5. In order to release the brakes, connect the 24
VDC power supply.
6. Remove the motor by unscrewing its four
attachment screws and plain washers.
7. If required, press the motor out of position by
fitting removal tool, motor to the motor attach-
ment screw holes.
8. Lift the motor to get the pinion away from the
gear and disconnect the brake release volt-
age.
9. Remove the motor by gently lifting it straight
up.
A
Note/Illustration
xx0200000199
• A: Cable gland cover
Make sure the gasket is not damaged!
Art. no. specified in Required equip-
ment on page 93!
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Shown in the figure Location of motor
on page 93!
Art. no. specified in Required equip-
ment on page 93!
Always use the removal tools in pairs!
3HAC 16247-1