ABB IRB 6600 - 175/2.55 User Manual page 531

Equipment, etc.
Standard toolkit
Other tools and proce-
dures may be required.
See references to these
procedures in the step-
by-step instructions
below.
Removal, motor The procedure below details how to remove motor, axis 5.
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
3HAC 16247-1
Spare part no. Art. no.
Action
1. Drain the oil from gearbox axis 5.
2. Remove the wrist unit.
3. Place the wrist unit safely on a work-
bench, in a fixture or similar.
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 attach-
ment screws.
6. Disconnect all connectors beneath the
motor cover and remove the separate
cable of the axis 5 motor.
7. In order to release the brake, connect the
24 VDC power supply.
8. Remove the motor by unscrewing its four
attachment screws and plain washers.
9. Fit the two guide pins in two of the motor
attachment screw holes.
A
3 Repair activities, manipulator
3.5.9 Removal of motor, axis 5
Note
3HAC 15571-1 The contents are defined in
section Standard toolkit on
page 18!
These procedures include
references to the tools
required.
Note/Illustration
Detailed in "Oil change, gearbox axis 5"
in the Maintenance Manual.
Detailed in section Removal of complete
wrist unit on page 47.
Connect to either:
- connector R4.MP5 (in the motor):
• + : pin 2
• - : pin 5
- connector R3.MP5 (on the separate
cable, if not removed):
• +: pin C
• -: pin D
Art. no. specified in Required equipment
on page 114!
115