ABB IRB 6640 Product Manual page 337

Refitting, motor
The procedure below details how to refit the motor axis 2.
3HAC026876-001 Revision: F
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. In order to release the brake, remove the
cover on top of the motor and connect the 24
VDC power supply.
4. Fit the lifting tool, motor axis 2, 3, 4 to the
motor.
5. Fit the two guide pins in the two lower motor
attachment holes.
6. Lift the motor and guide it onto the guide pins,
as close to the correct position as possible
without pushing the motor pinion into the
gear.
Make sure that the motor is turned the right
direction, that is the cables facing
downwards.
7. Remove the lifting tool and allow the motor to
rest on the guide pins.
8. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to the
gear of gearbox axis 2 and that it does not get
damaged.
9. Remove the guide pins.
4.6.2. Replacement of motor axis 2
Note
Art. no. is specified in Required
equipment on page 332.
Connect to connector R2.MP2
• +: pin 2
• -: pin5
Art. no. is specified in Required
equipment on page 332.
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.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in the figure above.
• A: Rotation tool
Continues on next page
4 Repair
Continued
335