ABB IRB 6640 Product Manual page 332

4 Repair
4.6.1. Replacement of motor, axis 1
Continued
Refitting, motor axis 1
The procedure below details how to refit motor, axis 1.
330
Action
6. In order to release the brakes, connect the 24 VDC
power supply.
7. Remove the motor by unscrewing its four
attachment screws and plain washers.
8.
CAUTION!
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
9. Lift the motor to get the pinion away from the gear
and disconnect the brake release voltage.
10. Remove the motor by gently lifting it straight up.
Action
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and SMB.
2. Make sure the o-ring on the circumference of the
motor is seated properly. Lightly lubricate the o-ring
with grease.
3.
CAUTION!
The motor weighs 25 kg! All lifting equipment used
must be sized accordingly!
4. Apply the lifting tool, motor axis 1, 4, 5 to the motor. Art no. is specified in
5. In order to release the brake, connect the 24 VDC
power supply.
6. Fit the motor, making sure the motor pinion is
properly mated to gearbox of axis 1.
7. Fit the clutch on the pinion on the motor.
8. Secure the motor with its four attachment screws
and plain washers.
Note
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Shown in the figure Location of
motor on page 328.
Note
Art no. is specified in Required
equipment on page 328.
Required
equipment on page 328.
Connect to connector R2.MP1
• +: pin 2
• -: pin 5
Make sure the motor is turned the
correct way, that is connection of
motorcable as shown in the
Location of motor on page
Make sure the motor pinion does
not get damaged!
M10 x 40, tightening torque: 50
Nm.
Continues on next page
3HAC026876-001 Revision: F
figure-
328.