ABB IRB 6640 Product Manual page 347

10. Reconnect all connectors beneath the motor
12. Refit the cable gland cover at the cable exit
13. Perform a leak-down test if the gearbox has
14. Refill the gearbox with oil if drained.
15. Recalibrate the robot!
16.
3HAC026876-001 Revision: F
Action
6. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear!
Fit the motor, making sure the motor pinion
is properly mated to the gear, axis 4.
7. Remove the guide pins.
8. Secure the motor with four attachment
screws and plain washers.
9. Disconnect the brake release voltage.
cover.
11. Refit the cover on top of the motor with its
four attachment screws.
with its two attachment screws.
been drained.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
First test run may cause injury or damage!
on page 41.
4.6.4. Replacement of motor, axis 4
Note
Art. no. is specified in
equipment on page
Make sure the motor pinion does not get
damaged!
Make sure the motor is turned the right
direction, that is the cables facing
forwards.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft as
shown in figure above.
• A: Rotation tool.
4 pcs: M8 x 25, tightening torque: 24 Nm.
Make sure the cover is tightly sealed!
Shown in the figure
page 342.
Detailed in the section
down test on page
Detailed in the section
176.
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section
mation.
DANGER -
4 Repair
Continued
Required
342.
Location of motor on
Performing a leak-
196.
Filling, oil on page
Calibration infor-
345