NoteAction
CAUTION
Always cut the paint with a knife and grind
the paint edge when disassembling parts. See
Cut the paint or surface on the robot before
replacing parts on page 219.
2
Detailed in section:
• IRB 6640: Removal, wrist unit
on page 265.
Remove the complete wrist unit.3
Remove the cover of motor, axis 5.4
Disconnect all connectors at motor, axis 5.5
Remove the cable gland cover at the cable
exit by unscrewing its two attachment screws.
6
Remove the cable, axis 5.7
Refitting, cabling axis 5 motor
The procedure below details how to refit the cabling to the motor of axis 5.
NoteAction
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
1
Clean the joints that have been opened. See
Cut the paint or surface on the robot before
replacing parts on page 219
2
Reconnect all connectors at motor, axis 5.3
Refit the cable gland cover at the cable exit
with its two attachment screws.
4
Refit the cover of motor, axis 5.5
Detailed in section:
• IRB 6640: Refitting, wrist unit
on page 266.
Refit the complete wrist unit.6
Seal and paint the joints that have been
opened. See Cut the paint or surface on the
robot before replacing parts on page 219
7
Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
Re-calibrate the robot.8
General calibration information is in-
cluded in section Calibration informa-
tion on page 439.
Continues on next page
238 Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.3.2 Replacement of cabling, axis 5 motor
Continued
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