ABB IRB 6640 Product Manual page 373

3HAC026876-001 Revision: F
Action
8.
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.
9. Remove the lower end of the
cable harness.
NOTE!
For Cleanroom robots the
procedure is detailed in section
Replacement of cable harness,
Cleanroom on page 224.
10. Let the removed part of the cable
harness hang loose and take care
not to damage it during the
removal process.
11. Remove the attachment screws
M16x60 (12 pcs) securing the
lower arm to gearbox axis 2.
12. Remove the upper and lower arms
and put them down on the floor.
13. Remove motor axis 2.
14. Remove two attachment screws
(M12x60) parallel to each other.
15. Fit two guide pins in the holes,
parallel to each other.
16.
CAUTION!
The gearbox weighs 98 kg! All
lifting equipment used must be
sized accordingly!
4.7.2. Replacement gearbox axis 2
Note
Detailed in the section Replacement of cable
harness, axes 1-6 on page
Shown in the figure Location of gearbox axis 2 on
page 368.
Detailed in the section Replacement of motor axis 2
on page 332.
4 Repair
Continued
203.
Continues on next page
371