Disassembly/Assembly
Guidelines
IRB 6400
Page 8 - 1
Axis 5 Guidelines
MOTOR (W52) Removal
NOTE: Axes 4, 5, & 6 are either all ELMO
motors or all Siemens motors. If replacing
motor, do not mix manufacturers.
1. TURN MAIN ELECTRICAL DISCONNECT SWITCH OFF AND LOCK IT
IN THE OFF POSITION.
WARNING! BE SURE ELECTRICAL DISCONNECT SWITCH IS
OFF AND LOCKED IN OFF POSITION!
1. DRAIN OIL FROM WRIST ASSEMBLY (U10) as outlined in Section 4.
2. REMOVE WRIST ASSEMBLY (U10) as outlined on page 8 - 5. Place
wrist assembly on a solid work bench.
3. REMOVE MOTOR (W52):
a. Remove screws (W49) with washers (W51).
b. Pull motor out. Use M8x65 screws in extractor holes to aid in pull-
ing motor, if necessary.
c. Keep track of shims (W55) so the same shims can be re-installed
in the same orientaion.
d. Remove O-Ring (W53).
4. REMOVE PINION (W54):
a. Measure distance between motor flange and outer surface of pin-
ion. Use tool ABB# 6896 134-GN. Make a written record of mea-
surement.
b. Press pinion off motor shaft. Use tools: nipple ABB# 6896 134-
AA, TREDO washer as a seal, nipple SKF# 725870, and oil injec-
tor SKF# 22670.
E
E
REFERENCE DRAWINGS
Exploded View:
Assembly:
3HAA 0001-GX ( pg 13-18)
REQUIRED TOOLS
“U” (pg 8-9, 12-4)
Hand Tools
ABB #6896134-AA
SKF #725870
“W” (pg 8-10, 12-5)
3HAA 0001-AAH ( pg 13-13)
3HAA 0001-GX ( pg 13-21)
3HAA 0001-AAS ( pg 14-A)
3HAB 4254-2 ( pg 14-J)
SKF #226270
ABB #6896 134-GN
MOTOR WEIGHS
APPROX. 35 LB.
To Next Page
Loading...
