Hello all,
We recently purchased a few used IRB 6650B M2000As and most of them produce a noise from axis 4,5, and 6 and some from 2 and 3. They do have quite a few hours on them (34,000-38,000 hours) and I've read that 40,000 is the expected life of the gearboxes. At first I thought the noise was coming from the gearboxes but after a better listen it seems that the noise comes from the rear of the servo motor. After removing the cover from axis 6 servo I've narrowed the location down to the area under the encoder.
The encoder is something I don't want to remove at the moment but I would really like to know whats underneath it making the noise. It sounds as though it could be a bearing or small gears. Of course I can't find a diagram of the servo internals and the repair manual only includes instructions for removing the entire motor unit. Does anybody have experience with these robots? I have no idea how they're supposed to sound but I can't believe they should make this much noise. Also does anybody have schematics for individual motors? Thanks in advance.
*EDIT* The servomotors in question are the 3HAC 17484-8/00 [Axis 6] and 3HAC 17484-10/100 [Axis 4] - Both Tamagawa Seiki Co.
The resolvers are Model TS2640N241E172. Does anybody know what's located directly beneath the resolver?