ABB IRB 6600 - 175/2.55, User Manual

Page: 518 / 1020

3 Repair activities, manipulator
3.5.4 Refitting of motor axis 2
102 A 3HAC 16247-1
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.
6. Remove the lifting tool and allow the motor to
rest on the guide pins.
7. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
figure beside).
Fit the motor, making sure the motor pinion is
properly mated to the gear of gearbox axis 2
and that it doesn´t get damaged.
Art. no. specified in Required equip-
ment on page 100!
xx0200000165
The rotation tool is used beneath
the motor cover, directly on the
motor shaft as shown in figure
above.
• A: Rotation tool
8. Remove the guide pins.
9. Secure the motor with four attachment screws
and plain washers. M10 x 40, tightening torque: 50 Nm.
Reused screws may be used, pro-
viding they are lubricated as
detailed in Screw joints on page 15
before fitting.
10. Remove the lifting tool.
11. Disconnect the brake release voltage.
12. Reconnect all connectors beneath the motor
cover. Connect in accordance with mark-
ings on connectors.
13. Refit the cable gland cover at the cable exit
with its two attachment screws. Shown in the figure Location of
motor on page 100!
14. Refit the cover on top of the motor with its four
attachment screws. Make sure the cover is tightly
sealed!
15. Remove the lock screw from the hole for lock
screw. Shown in the figure Location of
motor on page 100!
16. Perform a leak down test. Detailed in Performing a leak-down
test on page 21.
17. Refill the gearbox with oil. Detailed in "Oil change, gearbox
axis 2" in the Maintenance Manual.
18. Recalibrate the robot. Detailed in "Calibration" in the
Installation Manual.
Step Action Note/Illustration
A