ABB IRB 6640 Product Manual page 358

4 Repair
4.6.7. Replacement of motor, axis 6, IRB 6640
Continued
Refitting, motor
The procedure below details how to refit motor, axis 6.
356
Action
6. Remove the motor by unscrewing its four
attachment screws and plain washers.
7. If required, press the motor out of position by fitting
removal tool, motor to the motor attachment screw
holes.
8. Lift the motor carefully to get the pinion away from
the gear and disconnect the brake release voltage.
9. Remove the motor by gently lifting it straight out.
Action
1. Make sure the o-ring on the circumference of the
motor is seated properly. Lightly lubricate the o-
ring with grease.
2. In order to release the brake, connect the 24
VDC power supply.
3. Fit the two guide pins in two of the motor
attachment holes.
Note
xx0600003038
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws (4
pcs)
Art. no. is specified in Required
equipment on page 354.
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 354.
Connect to connector R3.MP6
• +: pin 2
• -: pin 5
Art. no. is specified in Required
equipment on page 354.
Continues on next page
3HAC026876-001 Revision: F