Product manual

Motors and Gears Axes 4-6 Repairs
20 Product Manual IRB 6400R
4.6 Dismounting Motor axis 5
Refer to foldout 2:11.
Dismounting:
1. Dismount the wrist as described in Chapter 4.4, Wrist.
2. Drain the oil by opening both magnetic plugs.
3. Remove screw <3>. Press out the motor <2> with pin screws (M8x65). Keep track
of the shims <7> between the motor flange and wrist housing.
4. Measure the distance between the motor flange and the outer surface of the gear.
Use tool 6896 134-GN. Make a written note of the distance.
Be careful not to tap or hit the shaft axially, nor displace the shaft axially in any way,
as this could give rise to an incorrect air gap in the brake.
5. Press out the gear from the shaft. Use nipple 6896 134-AA + TREDO washer as a
seal + SKF nipple 101 8219 + SKF oil injector 226270.
Caution: Make sure the oil injector is filled with oil.
N.B.
This gear is matched with the other parts of the bevel gear <5> for axis 5. If the
motor is changed, the gear must be moved over to the new motor axis. If the gear is
damaged, the complete bevel gear set unit must be replaced.
Please contact ABB Flexible Automation when replacement of the bevel gear set
unit is necessary.
6. Press the gear on to the new motor. Use tools 3HAA 7601-070 + 3HAB 5674-1.
Note!
Remove the cover at the rear of the motor and place support
3HAA 7601-070 under the motor shaft, to avoid axial loading of the bearings in the
motor.
7. Check the distance to the gear with tool 6896 134-GN. If the distance differs from
the earlier measurement, an adjustment must be made by adding or removing
shims <7>.
8. Release the brake. Mount the motor. Use a new O-ring <2.3>. Apply Loctite 243
on screws <3> and tighten with a torque of 24 Nm.
9. Fill the gearbox with oil according to the Maintenance Manual IRB 6400R.
Tightening torque:
Screw joint motor/wrist housing, item 3: 24 Nm