ABB IRB 6640 Product Manual page 345

Equipment, etc.
Extension 300mm
for bits 1/2"
Rotation tool
Power supply
Standard toolkit
Calibration
Pendulum toolkit
Other tools and
procedures may be
required. See
references to these
procedures in the
step-by-step
instructions below.
Circuit Diagram
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
3HAC026876-001 Revision: F
Spare part no.
Action
1. Move the robot to a position where the upper
arm is pointed straight up.
This position enables the motor to be
replaced without draining the gear oil, which
in turn saves time.
Any other position of the upper arm requires
a draining of oil from the gearbox for axis 4.
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. Remove the cable gland cover at the cable
exit of the motor by unscrewing its two
attachment screws.
4. Remove the cover on top of the motor by
unscrewing its four attachment screws.
4.6.4. Replacement of motor, axis 4
Art. no. Note
3HAC12342-1
3HAC17105-1 Used to rotate the motor
pinion when mating it to the
gear when brakes are
released with 24 VDC power
supply.
- 24 VDC, max. 1,5 A
For releasing the brakes.
- The content is defined in the
section
page
3HAC15716-1 Complete kit that also
includes operating manual.
These procedures include
references to the tools
required.
3HAC025744-001 See the chapter
diagram.
Note
Draining of oil is described in section
Draining, oil on page
Shown in the figure
page 342.
Make sure the gasket is not damaged!
4 Repair
Continued
Standard toolkit on
409.
Circuit
175.
Location of motor on
Continues on next page
343