4 Repair
4.6.8. Replacement of motor, axis 6, IRB 6600ID and IRB 6650ID
3HAC023082-001 Revision: E382
© Copyright 2004-2008 ABB. All rights reserved.
3. In order to release the brakes, connect the 24
VDC power supply to the motor.
Connect to connector R3.MP6:
• + : pin C
• - : pin D
4. Fit the motor, making sure the motor pinion is
properly mated into the gear of axis 6.
5. Secure the motor with its three attachment
screws and washers.
3 pcs, M8x25. Tightening torque: 24
Nm.
Dimensions of the tools are
specified in the figure Removal
tools, motor attachment screws on
page 372.
6. Disconnect the brake release voltage.
7. Reconnect the motor connectors. Shown in the figure Location of
motor, axis 6 on page 380.
8. Perform a leak-down test. Detailed in section Performing a
leak-down test on page 224.
9. Refill the axis 6 gearbox with oil, if previously
drained.
Detailed in section Filling, oil, axis 6
on page 199.
10. Recalibrate the robot. Calibration is detailed in a separate
calibration manual, enclosed with
the calibration tools.
General calibration information is
included in section Calibration
information on page 409.
11.
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 38.
Action Note
Continued
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