4 Repair
4.6.3. Replacement of motor, axis 3
341
3HAC026876-001 Revision: F
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7-2010 ABB.
All rights reserved.
9. Use the rotation tool in order to rotate the motor
pinion when mating it to the gear!
Fit the motor, making sure the motor pinion is
properly mated to the gear of gearbox, axis 3.
Art no. is specified in
.
Make sure the motor pinion does not
get damaged!
Make sure the motor is turned the
right direction, that is the cables
facing forwards.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor
shaft as shown in figure above.
•
A: Rotation tool.
10. Remove the guide pins.
11. Secure the motor with four attachment screws
and plain washers.
4 pcs: M10 x 40, tightening torque:
50 Nm.
12. Disconnect the brake release voltage.
13. Reconnect all connectors beneath the motor
cover.
Connect in accordance with
markings on connectors.
14. Refit the cable gland cover at the cable exit with
its two attachment screws.
Make sure the cover is tightly
sealed!
15. Refit the cover on top of the motor with its four
attachment screws.
Make sure the cover is tightly
sealed!
16. Remove the equipment used to unload the upper
arm.
17. Perform a leak-down test.
Detailed in the section
.
18. Refill the gearbox with oil.
Detailed in the section
19. Recalibrate the robot!
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section
Calibration
information
.
20.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section
may cause injury or damage! on page 41
Action
Note
Continued
Содержание IRB 6640
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