ABB IRB 6640 Product Manual page 342

4 Repair
4.6.3. Replacement of motor, axis 3
Continued
12.
13. Lift the motor to get the pinion away
14. Remove the motor by gently lifting it
Refitting, motor
The procedure below details how to refit motor, axis 3.
340
Action
CAUTION!
The motor weighs 27 kg! All lifting
equipment used must be sized
accordingly!
from the gear.
straight out and disconnect the
brake release voltage.
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 it with
grease.
3. Fit the lifting tool, motor axis 2, 3, 4 to the motor. Art no. is specified in
4. Fit the two guide pins in the two lower motor
attachment holes.
5.
CAUTION!
The motor weighs 27 kg! All lifting equipment
used must be sized accordingly!
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.
7. Remove the lifting tool and allow the motor to stay
on the guide pins.
8. In order to release the brake, connect the 24 VDC
power supply.
Note
Make sure the motor pinion is not damaged!
Note
Art no. is specified in
equipment on page
equipment on page
Art no. is specified in
equipment on page
Shown in the figure
motor on page 337
Connect to connector R2.MP3
• +: pin 2
• -: pin 5
3HAC026876-001 Revision: F
Required
337.
Required
337.
Required
337.
Location of
Continues on next page