Replacement Of Motor, Axis 4 - ABB IRB 6640 Product Manual

4 Repair

4.6.4. Replacement of motor, axis 4

4.6.4. Replacement of motor, axis 4
Replacement of motor axis 4 for Foundry Prime
For replacement of motor axis 4 on robots with option Foundry Prime, see Replacement of
motor, axis 4 - Option Foundry Prime, 3HAC037959-011 (available on ABB Library).
Location of motor
The motor axis 4 is located on the left-hand side of the upper arm as shown in the figure
below.
xx0200000202
A
B
C
Required equipment
Equipment, etc.
Motor including
pinion
O-ring
Mercasol 3106
Loctite 574
Grease
Removal tool. motor
M10x
Guide pins M8 x 100
Guide pins M8 x 150
342
Motor, axis 4
Cable gland cover, motor axis 4
Motor attachment holes (4 pcs)
Spare part no.
See Spare parts
21522012-430
Art. no. Note
Includes
•
•
•
Must be replaced when reas-
sembling motor!
3HAC026621-001 Option Foundry Prime
Option Foundry Prime
3HAC3537-1 Used to lubricate the o-ring.
3HAC14972-1 Always use the removal tools
in pairs!
3HAC15520-1 For guiding the motor.
3HAC15520-2 For guiding the motor.
3HAC026876-001 Revision: F
motor
pinion
o-ring 21522012-430
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