ABB IRB 6660 - 130/3.1, Руководство по эксплуатации продукта

Страница: 232 / 348

4 Repair
4.6.2. Replacement of motor, axes 2 and 3
3HAC028197-001 Revision: A 230
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8. 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 2-3 and that it doesn´t get damaged.
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The rotation tool is used beneath the
motor cover, directly on the motor
shaft as shown in figure above.
- A: Rotation tool
9. Remove the guide pins.
10. Secure the motor with its four attachment
screws and plain washers .
Shown in the figure Location of
motors, axes 2 and 3 on page 227 .
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used,
providing they are lubricated as
detailed in section
Screw joints on
page 276 before fitting.
11. Disconnect the brake release voltage.
12. Reconnect all connectors beneath the motor
cover.
Connect in accordance with markings
on connectors.
13. Refit the cable gland cover at the cable exit with
its two attachment screws.
Shown in the figure Location of
motors, axes 2 and 3 on page 227 .
Replace the gasket.
14. Refit the motor cover with its four attachment
screws and washers.
Make sure the cover is tightly sealed!
15. Remove the lock screw from the hole for lock
screw .
Shown in the figure Location of
motors, axes 2 and 3 on page 227 .
16. Perform a leak-down test of the axis 2 (or 3)
gearbox.
17. Refill the gearbox with oil. Detailed in Oil change, gearbox axes
2-3 on page 123 .
18. Recalibrate the robot! Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
Calibration infor-
mation .
19.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
DANGER - First test
run may cause injury or damage! on page 33 .
Action Note
Continued