4 Repair
4.6.7. Replacement of motor, axis 6, IRB 6640, IRB 6620/Foundry Plus
3393HAC026876-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
4. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of gearbox, axis 6.
Make sure the pinion on the motor
shaft is not damaged!
xx0600003038
• A: Tilthouse
• B: Motor, axis 6
• C: Attachment screws
5. Remove the guide pins.
6. Secure the motor with its four attachment screws
and plain washers.
4 pcs: M8 x 25, tightening torque: 24
Nm.
7. Disconnect the brake release voltage.
8. Reconnect all connectors beneath the motor
cover.
9. Refit the cover on top of the motor with its five
attachment screws.
Make sure the cover is tightly sealed!
10.
NOTE!
On Foundry Prime robots:
When changing motor, keep the cover from the
old motor.
11. Recalibrate the robot. Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section Calibration infor-
mation.
Action Note
Continued
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