ABB IRB 6640 Foundry Prime Product Manual page 7

4.2.5 The brake release buttons may be jammed after service work .........................
4.3 Complete robot .................................................................................................
4.3.1 Replacing cable harness, axes 1-6 .............................................................
4.3.2 Replacement of cabling, axis 5 motor ..........................................................
4.3.3 Replacement of complete arm system .........................................................
4.3.4 Replacement of air nipple and hose (Foundry Prime) .....................................
4.4 Upper and lower arm .........................................................................................
4.4.1 Replacing the turning disk ........................................................................
4.4.2 Replacement of complete wrist unit ............................................................
4.4.3 Replacement of support shaft with bearing axis 5 ..........................................
4.4.4 Replacement of upper arm ........................................................................
4.4.5 Replacement of complete lower arm ...........................................................
4.5 Frame and base ................................................................................................
4.5.1 Replacing the SMB unit ............................................................................
4.5.2 Replacing the brake release board .............................................................
4.5.3 Replacement of spherical roller bearing, balancing device ..............................
4.5.4 Replacement of balancing device ...............................................................
4.5.4.1 Replacing the balancing device (design 1) ........................................
4.5.4.2 Replacing balancing device (design 2) .............................................
4.5.4.3 Unloading the balancing device using distance tool ...........................
4.5.4.4 Restoring the balancing device using distance tool ............................
4.5.4.5 Unloading the balancing device using hydraulic press tool ..................
4.5.4.6 Restoring the balancing device using a hydraulic press tool ................
4.6 Motors ............................................................................................................
4.6.1 Replacing motor axis 1 .............................................................................
4.6.2 Replacing motor axis 2 .............................................................................
4.6.3 Replacing motor axis 3 .............................................................................
4.6.4 Replacing motor axis 4 .............................................................................
4.6.5 Replacing motor axis 5 .............................................................................
4.6.6 Replacing motor axis 6 .............................................................................
4.7 Gearboxes .......................................................................................................
4.7.1 Replacing gearbox axis 1 ..........................................................................
4.7.2 Replacing gearbox axis 2 ..........................................................................
4.7.3 Replacing gearbox axis 3 ..........................................................................
4.7.4 Replacing gearbox axis 6 ..........................................................................
5 Calibration information
5.1 When to calibrate .............................................................................................
5.2 Calibration methods ...........................................................................................
5.3 Synchronization marks and synchronization position for axes ...................................
5.4 Calibration movement directions for all axes ..........................................................
5.5 Updating revolution counters ...............................................................................
5.6 Checking the synchronization position ..................................................................
6 Decommissioning
6.1 Introduction ......................................................................................................
6.2 Environmental information ..................................................................................
6.3 Scrapping of robot .............................................................................................
6.4 Decommissioning of balancing device ...................................................................
7 Reference information
7.1 Introduction ......................................................................................................
7.2 Applicable standards .........................................................................................
7.3 Unit conversion .................................................................................................
7.4 Screw joints ....................................................................................................
7.5 Weight specifications .........................................................................................
7.6 Standard tools ..................................................................................................
7.7 Special tools ....................................................................................................
Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
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