ABB IRB 6640 - 180/2.55 Product Manual page 311

Articulated robot
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3HAC026876-001 Revision: C
Action
4. Fit the lifting tool, motor axis 2, 3, 4 to the
motor.
5. Fit the two guide pins in the two lower motor
attachment holes.
6. Lift the motor and guide it on to the guide pins,
as close to the correct position as possible
without pushing the motor pinion into the
gear.
Make sure that the motor is turned the right
direction, that is the cables facing
downwards.
7. Remove the lifting tool and allow the motor to
rest on the guide pins.
8. Use the rotation tool in order to rotate the
motor pinion when mating it to the gear (see
the figure to the right). Fit the motor, making
sure the motor pinion is properly mated to the
gear of gearbox axis 2 and that it doesn´t get
damaged.
9. Remove the guide pins.
10. Secure the motor with four attachment screws
and plain washers.
11. Disconnect the brake release voltage.
12. Reconnect all connectors beneath the motor
cover.
13. Refit the cable gland cover at the cable exit
with its two attachment screws.
14. Refit the cover on top of the motor with its four
attachment screws.
15. Remove the lock screw from the hole for lock
screw.
16. Perform a leak down test.
17. Refill the gearbox with oil.
4.6.2. Replacement of motor axis 2
Note
Art. no. is specified in
Required
equipment on page
306.
Art. no. is specified in
Required
equipment on page
306.
Shown in the figure
Location of motor on
page
306.
Art. no. is specified in
Required
equipment on page
306.
xx0200000165
The rotation tool is used beneath the
motor cover, directly on the motor shaft
as shown in figure above.
A: Rotation tool
M10 x 40, tightening torque: 50 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 390
before fitting.
Connect in accordance with markings
on connectors.
Shown in the figure
Location of motor on
page
306.
Make sure the cover is tightly sealed!
Shown in the figure
Location of motor on
page
306.
Detailed in
Performing a leak-down test
on page
188.
Detailed in section
Oil change, gearbox
axis 2 on page
157.
Continues on next page
4 Repair
Continued
309

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