Repairs Axis 2
Product Manual IRB 640 17
3 Axis 2
3.1 Replacing motor
Refer to foldout 5.
Dismounting:
Be careful not to tap or hit the shaft axially, nor displace the shaft axially in any
way, as this could give rise to an incorrect air gap in the brake.
1. Move the lower arm to the position where it is possible to secure the arm with
screws, through the holes in the lower fixing points of the balancing springs.
Tighten the screws into the lower arm.
2. Unscrew the 3 screws on top of motor 2. Remove the cover.
3. Unscrew the 4 cable inlet cover screws.
4. Disconnect connectors R3.MP2 and R3.FB2 in the motor.
5. Attach a hoist to the motor. The weight of the motor is 17 kg.
6. Loosen the screws <1.31> for the motor.
7. Pull out the motor. (In case of difficulty, use the threaded M8 holes on the motor
flange to push the motor out.)
8. Unscrew screw <1.30> and mount a screw with a length of 150 mm and pull off
the gear with a puller.
Mounting:
9. Fit a fully threaded pin in the motor shaft and press the gear on to the shaft with a
nut and a washer. Mount screw <1.30> through the gear, torque 70 Nm, Loctite
243.
This is to avoid axial force through the bearings in the motor.
10. Ensure that assembly surfaces are clean and unscratched.
11. Mount O-ring <1.28> using some grease.
12. Mount motor, lubricate screws <1.31> with Molycote 1000 and tighten with a
torque of 50 Nm.
Do not forget to remove the locking screws in the lower arm!
13. Calibrate the robot as described in Chapter 9, Calibration.
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