ABB IRB 6640 Product Manual page 359

3HAC026876-001 Revision: F
Action
4. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of gearbox, axis 6.
5. Remove the guide pins.
6. Secure the motor with its four attachment screws
and plain washers.
7. Disconnect the brake release voltage.
8. Reconnect all connectors beneath the motor
cover.
9. Refit the cover on top of the motor with its five
attachment screws.
10. Recalibrate the robot.
11.
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
4.6.7. Replacement of motor, axis 6, IRB 6640
DANGER - First test run
41.
4 Repair
Note
Make sure the pinion on the motor
shaft is not damaged!
xx0600003038
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws
4 pcs: M8 x 25, tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration
information.
Continued
357