ABB IRB 6600 - 175/2.55 User Manual page 535

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
6. Measure the distance between the motor
flange and the outer surface of the pinion
with the measuring tool.
Modify the distance with shims in order to
obtain the same distance as measured
when dismounting the old motor (+ 0-0,05
mm).
7. In order to release the brake, connect the 24
VDC power supply.
8. Fit the two guide pins in two of the motor
attachment holes.
9. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly
mated to the gear of axis 5.
10. Secure the motor with four attachment
screws and plain washers.
11. Disconnect the brake release voltage.
12. Refit the separate cable of the axis 5 motor
and reconnect all connectors beneath the
motor cover.
13. Refit the cable gland cover at the cable exit
with its two attachment screws.
14. Refit the cover on top of the motor with its
four attachment screws.
15. Refit the wrist unit.
16. Perform a leak-down test.
17. Refill the gear with oil.
18. Recalibrate the robot.
A
3 Repair activities, manipulator
3.5.10 Refitting of motor, axis 5
Note/Illustration
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 equip-
ment on page 117!
Make sure the motor pinion does not
get damaged!
4 pcs: M8 x 25; tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Detailed in section Refitting of com-
plete wrist unit on page 50.
Detailed in Performing a leak-down
test on page 21.
Detailed in "Oil change, gearbox axis
5" in the Maintenance Manual.
Detailed in "Calibration" in the Instal-
lation Manual.
119