ABB IRB 6600 - 175/2.55 User Manual page 532

3 Repair activities, manipulator
3.5.9 Removal of motor, axis 5
Step
116
Action
10. If required, press the motor out of position
by fitting removal tool, motor, M10 to the
motor attachment screw holes.
11. Lift the motor to get the pinion away from
the gear and disconnect the brake
release voltage.
12. Remove the motor by gently lifting it
straight out.
13. Measure the distance between the motor
flange, included eventual shims, and the
outer surface of the pinion, with measur-
ing tool.
14. Press out the pinion from the dismounted
motor, with equipment specified in table
above.
The pinion is matched with the beveral
gear for axis 5. When the motor is
replaced the pinion must be removed
from the dismounted motor and mounted
onto the new motor shaft.
If the pinion is damaged the complete
wrist unit must be replaced!
A
Note/Illustration
Art. no. specified in Required equipment
on page 114!
Always use the removal tools in pairs
and diagonally!
Make sure the motor pinion is not dam-
aged!
Keep track of the shims between the
motor flange and the wrist housing.
Art. no. specified in Required equipment
on page 114!
Make a note of the distance.
Replacing the complete wrist unit is
detailed in sections Removal of com-
plete wrist unit on page 47 /Refitting of
complete wrist unit on page 50.
3HAC 16247-1