ABB IRB 6400R, Product On-Line Manual

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Repairs Motors and Gears Axes 4-6
Product Manual IRB 6400R 15
4 Motors and Gears Axes 4-6
4.1 Motor axis 4
Refer to foldout 2:10
Dismounting:
1. Drain the gearbox by removing oil plugs <48>.
2. Secure axis 4 so it cannot rotate when the motor is removed.
3. Attach a hoist and the lifting device (3HAC 3HAC 6875-1) to the motor
4. Release the breaks so it will be possible to pull and turn the motor out and minimise
the risk of damaging the pinion (see 2.5 Manually releasing the brakes).
5. Unscrew the 4 cable inlet cover screws.
6. Unscrew the 3 screws on the top of motor 4. Remove the cover.
7. Disconnect connectors R2.MP4 and R2.FB4.
Be careful not to tap or hit the shaft axially, nor displace the shaft axially in any way,
as this could give rise to an incorrect air gap in the brake.
8. To press the gear off the motor shaft, oil must be injected into the centre of the gear.
Mount SKF Oil injector SKF nipple 725 870 + 234 063 in the centre and
press the gear off the shaft.
Caution: Make sure that the oil injector is filled with oil.
Mounting:
9. Remove the B-side cover at the rear of the motor and place support 3HAA 7601-070
under the motor shaft, to avoid axial loading of the bearings in the motor.
10. Clean the pinion hole on the motor with Ethanol, art. no. 1177 1012-205 and dry with
a clean piece of paper.
11. Clean the pinion shaft in the same way.
12. Apply some mineral oil (BP-CS 320) on the pinion shaft and in the pinion hole on the
motor. Wipe off any surplus with paper, leaving a thin film of oil on the surfaces.
13. Press the gear on to the motor shaft with a minimum pressure of 250 bar (corresponds
to a press force of 1.5-2 t). Use tools 3HAA 7601-070 and 3HAB 5674-1.
14. If the pressure is less than 250 bar or if the pinion “jumps” in intermittently, the pin-
ion must be removed, cleaned, and oiled again before mounting.
15. The total indicated runout of the pinion must not be more than 0.01 mm.
16. Reconnect connectors R3.MP4 and R3.FB4. Mount the cover.
17. Release the breaks, mount O-ring <49> and insert the motor. Turn the motor carefully
so that the pinion and the gears in the gearbox mesh together.
18. Apply Loctite 243 and tighten screws <25>, torque 24 Nm.
19. Fill the gearbox with oil, type ABB 1171 2016 -604, volume 6 litres. Regarding
replacement oils see the Maintenance Manual IRB 6400R.
20. Calibrate the robot as described in Chapter 9, Calibration.