4 Repair
4.6.6. Replacement of motor, axis 5, IRB 6640ID
3513HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
4.6.6. Replacement of motor, axis 5, IRB 6640ID
Location of motor, axis 5
The motor of axis 5 is located on the bottom side of the wrist, when axis 4 is placed in
calibration position.
xx0500001573
Required equipment
A Motor, axis 5
B Motor connectors, R3.MP5 and R3.FB5
C Wrist side with the axis 5 gearbox
Equipment Spare part no. Art. no. Note
Motor including pinion See Spare parts Includes o-ring 3HAB 3772-
22.
O-ring 3HAB3772-22
Grease 3HAB 3537-1 For lubricating the o-ring.
Power supply - 24 VDC, 1.5A
For releasing the brakes.
Allen key and socket - A specific length is required
for accessing the
attachment screws of the
motor. The dimensions are
shown in the figure Removal
tools, motor attachment
screws on page 352.
Standard toolkit - The content is defined in the
section Standard toolkit on
page 409.
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step instruc-
tions below.
These procedures include
references to the tools
required.
Circuit diagram - See the chapter Circuit
diagram.
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