ABB IRB 6640 Product Manual page 346

4 Repair
4.6.4. Replacement of motor, axis 4
Continued
10. Lift the motor to get the pinion away from the
11. Remove the motor by gently lifting it straight
Refitting, motor axis 4
The procedure below details how to refit motor, axis 4.
344
Action
5. Disconnect all connectors beneath the
motor cover.
6. In order to release the brake, connect the 24
VDC power supply.
7. Unscrew the motors four attachment screws
and plain washers.
8. Fit the two guide pins in two of the motor
attachment screw holes.
9. If required, press the motor out of position by
fitting removal tool, motor to the motor
attachment screw holes.
gear and disconnect the brake release
voltage.
out.
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 brakes, connect the
24 VDC power supply.
4. Fit the two guide pins in two of the motor
attachment holes.
5. Fit the motor with guidance of the pins,
making sure the motor pinion is properly
mated to the gear of gearbox 4.
Note
Connect to connector R2.MP4
• +: pin 2
• -: pin 5
Shown in the figure Location of motor on
page 342.
Art. no. is specified in Required
equipment on page 342.
Always use the removal tools in pairs!
Make sure the motor pinion is not
damaged!
Note
Art. no. is specified in Required
equipment on page 342.
Connect to connector R2.MP4:
• +: pin 2
• -: pin 5
Art. no. is specified in Required
equipment on page 342.
Shown in the figure Location of motor on
page 342.
Make sure the motor pinion does not get
damaged!
Continues on next page
3HAC026876-001 Revision: F