ABB IRB 6640 Product Manual page 354

4 Repair
4.6.6. Replacement of motor, axis 5, IRB 6640ID
Continued
Removal tools, motor attachment screws
The figure below shows the required dimensions of the tools, in order to access the
attachment screws of the motor.
xx0500002271
A
B
C
Removal, motor axis 5
The procedure below details how to remove the motor, axis 5.
352
Allen key, No 6
Socket, max Ø16 mm
Torque wrench
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. Move axis 4 +90º so that the gearbox of axis 5 is faced
downwards. This makes it possible to remove the motor
without draining the gearbox oil.
3. Disconnect the motor connectors from the axis 5 motor. Shown in the figure
4. In order to release the brakes, connect the 24 VDC
power supply to the motor.
5. Remove the three attachment screws of the motor.
6. Remove the motor by gently lifting it straight out. Lift
carefully to get the pinion away from the gear.
7. Disconnect the brake release voltage.
Note
Location
of motor, axis 5 on page 351.
Connect to connector
R3.MP5:
• + : pin C
• - : pin D
Dimensions of the tools are
specified in the figure
Removal tools, motor
attachment screws on page
352.
Continues on next page
3HAC026876-001 Revision: F