ABB IRB 6600 - 175/2.55 User Manual page 520

3 Repair activities, manipulator
3.5.5 Removal of motor, axis 3
Equipment, etc.
Standard toolkit
Other tools and pro-
cedures may be
required. See refer-
ences to these pro-
cedures in the step-
by-step instructions
below.
Removal, motor The procedure below details how to remove motor, axis 3.
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!
The motor weighs 27 kg! All lifting equipment used must be dimensioned accordingly!
Step
104
Spare part no. Art. no.
Action
1. Unload the manipulator upper arm by either:
• Use a fork lift to rest the upper arm
onto.
• Use lifting slings and an overhead
crane to rest the upper arm.
• Use a mechanical stop to rest the
upper arm. Fit the mechanical stop in
the attachment hole (A) with tightening
torque: 115 Nm.
The upper arm must be positioned as horizon-
tal as possible!
2. Drain the oil from gearbox axis 3.
3. Remove any equipment hindering access to
motor axis 3.
4. Remove the cover on top of the motor by
unscrewing its four attachment screws.
5. Remove the cable gland cover at the cable
exit by unscrewing its two securing screws.
6. Disconnect all connectors beneath the motor
cover.
A
Note
3HAC 15571-1 The contents are defined in sec-
tion Standard toolkit on page 18!
These procedures include refer-
ences to the tools required.
Note/Illustration
xx0300000051
Fit the mechanical stop to the third
and final attachment hole (A),
below the fixed stop (B) in the upper
arm. See the figure above!
Detailed in "Oil change, gearbox
axis 3" in the Maintenance Manual.
Shown in the figure Location of
motor on page 103!
Make sure the gasket is not dam-
aged!
B
A
3HAC 16247-1