4 Repair
4.6.5. Replacement of motor, axis 5 IRB 6640
3HAC026876-001 Revision: F350
© Copyright 2007-2010 ABB. All rights reserved.
10. Fit the motor, with guidance from the pins,
making sure the motor pinion is properly mated
to the gear of axis 5.
Make sure the motor pinion does not
get damaged!
11. Secure the motor with four attachment screws
and plain washers.
4 pcs: M8 x 25; tightening torque: 24
Nm.
12. Disconnect the brake release voltage.
13. Refit theseparate cable of the axis 5 motor and
reconnect all connectors beneath the motor
cover.
14. Refit the cable gland cover at the cable exit
with its two attachment screws.
15. Refit the cover on top of the motor with its four
attachment screws.
Make sure the cover is tightly sealed!
16. Perform a leak-down test. Detailed in the section Performing a
leak-down test on page 196.
17. Refit the wrist unit. Detailed in the section Refitting, wrist
unit on page 266.
18. Refill the gear with oil. Detailed in the section Oil change,
gearbox, axis 5 on page 177.
19. Recalibrate the robot. Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration
information.
20.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section DANGER - First
test run may cause injury or damage! on page
41.
Action Note
Continued
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