4 Repair
4.6.8. Replacement of motor, axis 6, IRB 6640ID
3593HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
Removal, motor axis 6
The procedure below details how to remove the motor, axis 6.
Other tools and
procedures may be
required. See
references to these
procedures in the step-
by-step instructions
below.
These procedures include
references to the tools
required.
Circuit diagram - See chapter Circuit diagram in
the Product manual, reference
information.
Equipment Spare part no. Art. no. Note
Action Note
1. Move axis 4 -90º so that the axis 6 gearbox is facing
downwards. This enables the motor to be replaced
without draining the gearbox oil from axis 6.
2.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and SMB.
3. Disconnect the motor connectors. Shown in the figure Location
of motor, axis 6 on page 358.
4. In order to release the brakes, connect the 24 VDC
power supply to the motor.
Connect to connector
R3.MP6:
• + : pin C
• - : pin D
5. Unfasten the motor by unscrewing its three attachment
screws and washers.
Dimensions of the tools are
specified in the figure
Removal tools, motor
attachment screws on page
352.
6. Remove the motor by gently lifting it straight out. Lift
carefully to get the pinion away from the gear.
7. Disconnect the brake release voltage.
Continued
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