ABB Robotics IRB 6790, Product Manual

Page: 453 / 668

Note Action
Lifting accessory, motor: 3HAC15534-1 Fasten the lifting accessory to the motor.
Attach the lifting chain to the accessory
and an overhead crane. 10
Lifting accessory (chain): 3HAC15556-1
xx1200001125
When the motor is hanging in the lifting
accessory, and the pinion no longer is
mated to the gear, let the outer end of the
motor hang lower so that it will hang in an
angle. This position makes it easier to re-
move the axis-3 motor with the axis-4 mo-
tor still fitted.
CAUTION
The pinion must have been parted from
the gear before the motor is angled. If not
there is a risk of damaging the pinion and
gear.
11
Disconnect the 24 VDC power supply. 12
Make sure the pinion is not damaged.
xx1200001131
Remove the motor by lifting it straight out. 13
Refitting the motor
These procedures describes how to refit the motor.
Preparations prior to refitting motor
Note Action
DANGER
Make sure that all supplies for electrical power
and hydraulic pressure are turned off.
1
Remove any old paint residues or other contam-
ination from the contact surfaces on both the
motor and the mating parts. 2
Wipe clean the contact surfaces and the o-ring
groove.
Continues on next page
Product manual - IRB 6790 453
3HAC063331-001 Revision: B
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4 Repair
4.7.3 Replacing the axis-3 motor
Continued