ABB IRB 6640 - 180/2.55 Product Manual page 330

4 Repair
4.6.5. Replacement of motor, axis 5. IRB 6640
Continued
10. Fit the two guide pins in two of the motor
11. If required, press the motor out of position by
12. Lift the motor to get the pinion away from the gear
13. Remove the motor by gently lifting it straight out. Keep track of the shims between the
14. Measure the distance between the motor flange,
15. Press out the pinion from the dismounted motor,
328
Action
4. Place the wrist unit safely on a workbench, in a
fixture or similar.
5. Remove the cover on top of the motor by
unscrewing its four attachment screws.
6. Remove the cable gland cover at the cable exit by
unscrewing its two attachment screws.
7. Disconnect all connectors beneath the motor
cover and remove theseparate cable of the axis 5
motor.
8. In order to release the brake, connect the 24 VDC
power supply.
9. Remove the motor by unscrewing its four
attachment screws and plain washers.
attachment screw holes.
fitting removal tool, motor, M10 to the motor
attachment screw holes.
and disconnect the brake release voltage.
included eventual shims, and the outer surface of
the pinion, with measuring tool.
with the equipment included in the oil injector kit.
NOTE!
If the pinion is damaged the complete wrist unit
must be replaced!
Note
Connect to either:
- connector R4.MP5 (in the motor):
• + : pin 2
• - : pin 5
- connector R3.MP5 (on the
separate cable, if not removed):
• +: pin C
• -: pin D
Art. no. is specified in Required
equipment on page 326.
Art. no. is specified in Required
equipment on page 326.
Always use the removal tools in pairs
and diagonally!
Make sure the motor pinion is not
damaged!
motor flange and the wrist housing.
Art. no. is specified in Required
equipment on page 326.
Make a note of the distance.
Replacing the complete wrist unit is
detailed in section Replacement of
complete wrist unit on page
Art. no. is specified in Required
equipment on page 326.
Continues on next page
3HAC026876-001 Revision: C
252.