ABB IRB 6640 Product Manual page 341

Removal, motor
The procedure below details how to remove motor, axis 3.
10. Press the motor out of position by
11. Apply the lifting tool, motor axis 2 ,3,
3HAC026876-001 Revision: F
Action
1. Unload the upper arm of the robot
by either:
• Use a fork lift to rest the
upper arm onto.
• Use lifting slings and an
overhead crane to rest the
upper arm.
• Use a mechanical stop to
rest the upper arm. Fit the
mechanical stop in the
attachment hole (A) with
tightening torque: 115 Nm.
2.
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.
3. Drain the oil from gearbox axis 3.
4. Remove any equipment hindering
access to motor axis 3.
5. Remove the cover on top of the
motor by unscrewing its four
attachment screws.
6. Remove the cable gland cover at
the cable exit by unscrewing its two
securing screws.
7. Disconnect all connectors beneath
the motor cover.
8. Unscrew the motors four
attachment screws and plain
washers .
9. Fit the two guide pins in two of the
motor attachment screw holes.
fitting removal tool, motor to the
remaining motor attachment screw
holes.
4 to the motor.
4.6.3. Replacement of motor, axis 3
Note
xx0300000051
Fit the mechanical stop to the third and final
attachment hole (A), below the fixed stop (B) in the
upper arm. See the figure above!
Detailed in section Oil change, gearbox, axis 3 on
page 171.
Shown in the figure Location of motor on page
Make sure the gasket is not damaged!
Shown in the figure Location of motor on page
Art. no. is specified in Required equipment on
page 337.
Art. no. is specified in Required equipment on
page 337.
Always use the removal tools in pairs!
Art. no. is specified in Required equipment on
page 337.
4 Repair
Continued
337.
337.
Continues on next page
339