ABB IRB 6600 - 175/2.55 User Manual page 529

Step
When performing the first test run after a service activity (repair, installation or maintenance),
it is vital that:
- all the service tools and other foreign objects are removed from the manipulator!
- all normal safety equipment is installed properly, e.g. TPU enabling device.
- all personnel is standing at a safe distance from the manipulator, i.e. out of its reach behind
any safety fences, etc.
- special attention is paid to the function of the part previously serviced.
3HAC 16247-1
Action
5. 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.
6. Remove the guide pins.
7. Secure the motor with four attachment
screws and plain washers.
8. Disconnect the brake release voltage.
9. Reconnect all connectors beneath the
motor cover.
10. Refit the cover on top of the motor with its
four attachment screws.
11. Refit the cable gland cover at the cable exit
with its two attachment screws.
12. Perform a leak-down test if gearbox has
been drained.
13. Refill the gearbox with oil if drained.
14. Recalibrate the robot!
A
3 Repair activities, manipulator
3.5.8 Refitting of motor, axis 4
Note/Illustration
Art. no. specified in Required equip-
ment on page 111!
Make sure the motor pinion does not
get damaged!
Make sure the motor is turned the right
direction, i.e. the cables facing for-
wards.
xx0200000165
The rotation tool is used beneath the
motor 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 111!
Detailed in section Performing a leak-
down test on page 21.
Detailed in "Oil change, axis 4 gear-
box" in the Maintenance Manual.
Detailed in "Calibration" in the Installa-
tion Manual.
A
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