ABB IRB 640 - Table of Contents

Repairs
CONTENTS
Page
Product Manual IRB 640 1
1 General Description ........................................................................................................ 3
1.1 Document Guidance ............................................................................................... 5
1.2 Caution....................................................................................................................6
1.3 Mounting Instructions for Bearings and Seals ....................................................... 6
1.3.1 Bearings ....................................................................................................... 6
1.3.2 Seals ............................................................................................................. 7
1.4 Instructions for Tightening Screw Joints................................................................ 9
1.5 Tightening Torques................................................................................................. 10
1.5.1 Screws with slotted or cross recessed head.................................................. 10
1.5.2 Screws with hexagon socket head................................................................ 10
2 Axis 1............................................................................................................................... 11
2.1 Replacement of motor ............................................................................................ 11
2.2 Cabling axis 1......................................................................................................... 12
2.3 Replacing the gearbox ............................................................................................ 14
2.4 Dismounting joint bearing...................................................................................... 15
2.5 Dismounting cooling axis 1.................................................................................... 16
3 Axis 2................................................................................................................................ 17
3.1 Replacing motor ..................................................................................................... 17
3.2 Replacing the gearbox ............................................................................................ 18
3.3 Replacing lower arm............................................................................................... 19
3.4 Replacing bearing in lower arm.............................................................................. 20
3.5 Dismounting balancing unit.................................................................................... 21
3.6 Replacing guiding ring, balancing unit................................................................... 23
3.7 Replacing bearings, balancing unit......................................................................... 24
3.8 Dismounting cables, lower arm/upper arm............................................................. 25
4 Axis 3................................................................................................................................ 27
4.1 Replacing motor ..................................................................................................... 27
4.2 Replacing gearbox.................................................................................................. 28
4.3 Dismounting parallel arm....................................................................................... 29
4.4 Replacing parallel bar with bearings ...................................................................... 29
4.5 Dismounting upper arm, complete ......................................................................... 30
5 Link system...................................................................................................................... 33
5.1 Replacing upper and lower rod............................................................................... 33
5.2 Replacing the link................................................................................................... 35