ABB IRB 6640 Product Manual page 380

4 Repair
4.7.3. Replacement of gearbox, axis 3
Continued
Removal, gearbox axis 3
The procedure below details how to remove gearbox, axis 3.
378
Action
1.
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.
2. Secure the upper arm in a
horizontal position using round
slings.
3. Remove the motor, axis 3.
4. Remove the upper arm.
5. Remove the sealing, axis 2/3
between the gearbox and lower
arm.
6. Place the upper arm safely on a
workbench, in a fixture or similar.
7. Remove the attachment screws,
gearbox.
8. Fit the two guide pins in 180°
relation to each other in the
gearbox attachment screw holes.
Note
Art. no. is specified in Required equipment on page
377.
Detailed in section Removal, motor on page
NOTE!
When removing the motor axis 3, the brake on axis
3 is released. Make sure the upper arm is secured
and disabled to move!
Detailed in section Removal, upper arm on page
273.
On reassembly a new sealing must be used! Art.
no. is specified in Required equipment on page
377.
Shown in the figure Location of gearbox on page
376.
Art. no. is specified in Required equipment on page
377.
3HAC026876-001 Revision: F
339.
Continues on next page