4 Repair
4.6.8. Replacement of motor, axis 6, IRB 6640ID
3HAC026876-001 Revision: F358
© Copyright 2007-2010 ABB. All rights reserved.
4.6.8. Replacement of motor, axis 6, IRB 6640ID
Replacement motor axis 6 for Foundry Prime
For replacement of motor axis 6 on robots with option Foundry Prime, see Replacement of
motor, axis 6 - Option Foundry Prime, 3HAC037959-013 (available on ABB Library).
Location of motor, axis 6
The motor of axis 6 is located on top of the wrist, when axis 4 is placed in calibration position.
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Required equipment
A Motor, axis 6
B Motor connectors, R3.MP6 and R3.FB6
C Wrist side with axis 6 gearbox inside
Equipment Spare part no. Art. no. Note
Motor including pinion See Spare parts Includes o-ring 3HAB3772-22.
Grease 3HAB 3537-1 For lubricating the o-ring.
O-ring 3HAB3772-22
Power supply - 24 VDC, 1.5 A
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.
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