ABB IRB 6660, Product Manual

Page: 300 / 396

Note Action
Art. no. is specified in Required
equipment on page 297 .
Fit the two guide pins in two of the motor attach-
ment screw holes.
11
Art. no. is specified in Required
equipment on page 297 .
If required, press the motor out of position by fit-
ting
removal tool, motor, M10 to the motor attach-
ment screw holes.
12
Always use the removal tools in
pairs and diagonally!
Make sure the motor pinion is not
damaged! Lift the motor to get the pinion away from the
gear and disconnect the brake release voltage. 13
Keep track of the shims between the
motor flange and the wrist housing. Remove the motor by gently lifting it straight out. 14
xx1400000991
Foundry Plus:
Remove old Loctite 574 flange sealant residues
and other contamination from the contact sur-
faces on both motor and gearbox.
15
Refitting, motor, axis 5
The procedure below details how to refit motor, axis 5.
Note Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
1
Art. no. is specified in Required equip-
ment on page 297 .
Make sure the o-ring on the circumference of
the motor is seated properly. Lightly lubricate
the
o-ring with grease.
2
Connect to either: In order to release the brake, connect the 24
VDC power supply. 3
- connector R4.MP5 (in the motor):
• +: pin 2
• -: pin 5
- connector R3.MP5 (on the separate
cable, if not removed):
• +: pin C
• -: pin D
Continues on next page
300 Product manual - IRB 6660
3HAC028197-001 Revision: S
© Copyright 2007-2018 ABB. All rights reserved.
4 Repair
4.6.4 Replacement of motor, axis 5
Continued