ABB IRB 640 - Page 45

Repairs
CONTENTS
Page
2 Product Manual IRB 640
6 Pushbutton unit for releasing brakes............................................................................ 37
6.1 Replacing pushbutton unit...................................................................................... 37
7 Axis 6................................................................................................................................ 39
7.1 Dismounting the tilt housing.................................................................................. 39
7.2 Replacing motor/gear axis 6................................................................................... 40
7.3 Checking play in axis 6 .......................................................................................... 41
8 Motor units ...................................................................................................................... 43
8.1 General ................................................................................................................... 43
8.2 Checking brake performance.................................................................................. 44
9 Calibration....................................................................................................................... 45
9.1 General ................................................................................................................... 45
9.2 Calibration procedure............................................................................................. 45
9.3 Aligning the tilt housing ................................................................................. 51
9.4 Setting the calibration marks on the manipulator................................................... 52
9.5 Checking the calibration position........................................................................... 55
9.6 Alternative calibration positions ............................................................................ 55
9.7 Calibration equipment............................................................................................ 57
10 Special Tools List........................................................................................................... 59