ABB IRB 6640 Product Manual page 355

Refitting, motor axis 5
The procedure below details how to refit the motor, axis 5.
3HAC026876-001 Revision: F
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. Replace it if damaged.
Lightly lubricate the o-ring with grease.
3. In order to release the brakes, connect the 24
VDC power supply to the motor.
4. Fit the motor, making sure the motor pinion is
properly mated to the gear of axis 5.
5. Secure the motor with the three attachment
screws and washers.
6. Disconnect the brake release and reconnect the
motor connectors.
7. Perform a leak-down test.
8. Refill the axis 5 gearbox with oil, if previously
drained.
9. Recalibrate the robot.
10.
DANGER!
Make sure all safety requirements are met when
performing the first test run. These are further
detailed in the section
may cause injury or damage! on page
4.6.6. Replacement of motor, axis 5, IRB 6640ID
DANGER - First test run
41.
4 Repair
Note
Article numbers are specified in
Required equipment on page
Connect to connector R3.MP5:
• + : pin C
• - : pin D
3 pcs: M8x25. Tightening torque: 24
Nm.
Dimensions of the tools are specified
in the figure Removal tools, motor
attachment screws on page
Shown in the figure Location of
motor, axis 5 on page 351.
Detailed in section Performing a leak-
down test on page 196.
Filling is detailed in section
axis 5 on page 179.
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration
information.
Continued
351.
352.
Filling, oil,
353