ABB IRB 6600 - 175/2.55 User Manual page 537

Equipment, etc.
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 the motor, axis 6.
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. Run the robot to a position where the motor in axis
6 is pointed straight up. This position enables the
motor to be replaced without draining the gear oil,
which in turn saves time.
2. Remove the rear motor cover by unscrewing six
attachment screws.
3. Disconnect all connectors beneath the cover.
4. In order to release the brake, connect the 24 VDC
power supply.
5. Remove the motor by unscrewing its four attach-
ment screws and plain washers.
6. If required, press the motor out of position by fitting
removal tool, motor to the motor attachment screw
holes.
7. Lift the motor carefully to get the pinion away from
the gear and disconnect the brake release voltage.
8. Remove the motor by gently lifting it straight out.
A
3 Repair activities, manipulator
3.5.11 Removal of motor, axis 6
Note
These procedures include ref-
erences to the tools required.
Note/Illustration
Connect to connector R3.MP6
• +: pin 2
• -: pin 5
Art. no. specified in Required
equipment on page 120!
Always use the removal tools
in pairs!
Make sure the motor pinion is
not damaged!
121