ABB IRB 6640 Product Manual page 361

Equipment
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
Circuit diagram
Removal, motor axis 6
The procedure below details how to remove the motor, axis 6.
3HAC026876-001 Revision: F
Spare part no.
Action
1. Move axis 4 -90º so that the axis 6 gearbox is facing
downwards. This enables the motor to be replaced
without draining the gearbox oil from axis 6.
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. Disconnect the motor connectors.
4. In order to release the brakes, connect the 24 VDC
power supply to the motor.
5. Unfasten the motor by unscrewing its three attachment
screws and washers.
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.
4.6.8. Replacement of motor, axis 6, IRB 6640ID
Art. no. Note
These procedures include
references to the tools
required.
- See chapter
the
information.
Note
Shown in the figure
of motor, axis 6 on page
Connect to connector
R3.MP6:
Dimensions of the tools are
specified in the figure
Removal tools, motor
attachment screws on page
352.
4 Repair
Continued
Circuit diagram in
Product manual, reference
Location
358.
• + : pin C
• - : pin D
Continues on next page
359