ABB IRB 6640 Product Manual page 336

4 Repair
4.6.2. Replacement of motor axis 2
Continued
10. Remove the motor by unscrewing its
11. Fit the two guide pins in two of the
12. If required, press the motor out of
13. Remove the removal tools and fit
14. Lift the motor to get the pinion away
15. Remove the motor by gently lifting it
334
Action
6. Remove the cable gland cover at
the cable exit by unscrewing its two
attachment screws.
7. Disconnect all connectors beneath
the motor cover.
8.
DANGER!
Secure the weight of the lower arm
properly before releasing the brakes
of motor, axis 2!
When releasing the holding brakes
of the motor, the lower arm will be
movable and may fall down!
9. In order to release the brake,
connect the 24 VDC power supply.
four attachment screws and plain
washers.
motor attachment holes.
position by fitting the removal tool,
motor to the remaining motor
attachment holes.
the lifting tool, motor axis 2, 3, 4 to
the motor.
from the gear.
straight out and place it on a secure
surface. Disconnect the brake
release voltage.
Note
Shown in the figure Location of motor on page
332.
Make sure the gasket is not damaged!
Use the lock screw to lock the lower arm, as
detailed above!
Connect to connector R2.MP2
• +: pin 2
• -: pin 5
Art. no. is specified in Required equipment on
page 332.
Shown in the figure Location of motor on page
332.
Art. no. is specified in Required equipment on
page 332.
Shown in the figure Location of motor on page
332.
Always use the removal tools in pairs!
Art. no. is specified in Required equipment on
page 332.
Make sure the motor pinion does not get
damaged!
3HAC026876-001 Revision: F
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