ABB IRB 6640 Product Manual page 357

Equipment, etc.
Power supply
Grease
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
The procedure below details how to remove the motor, axis 6.
3HAC026876-001 Revision: F
Spare part no.
Action
1. Move the robot to a position where the motor in axis
6 is pointed straight up. This position enables the
motor to be replaced without draining the gear oil,
which in turn saves time.
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 rear motor cover by unscrewing the five
attachment screws.
4. Disconnect all connectors beneath the cover.
5. In order to release the brake, connect the 24 VDC
power supply.
4.6.7. Replacement of motor, axis 6, IRB 6640
Art. no. Note
- 24 VDC, 1.5 A
For releasing the brakes.
3HAB3537-1 For lubricating the o-ring.
- 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- See the chapter
001 diagram.
Note
Shown in the figure
motor on page
Connect to connector R3.MP6
• +: pin 2
• -: pin 5
4 Repair
Continued
Standard toolkit on
409.
Circuit
Location of
354.
Continues on next page
355