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4 Repair
4.6.5. Replacement of motor, axis 5. IRB 6640
Continued
10. Fit the motor, with guidance from the pins,
11. Secure the motor with four attachment screws
12. Disconnect the brake release voltage.
13. Refit theseparate cable of the axis 5 motor and
14. Refit the cable gland cover at the cable exit
15. Refit the cover on top of the motor with its four
16. Perform a leak-down test.
17. Refit the wrist unit.
18. Refill the gear with oil.
19. Recalibrate the robot.
20.
Replacement of the motor axis 5 (Foundry Prime)
Robots working with Foundry Prime and that have the special tightness for this application
require special repair routines to maintain the tightness level.
The repair must be done according to the previous repair procedures with the following
additions.
330
Action
making sure the motor pinion is properly mated
to the gear of axis 5.
and plain washers.
reconnect all connectors beneath the motor
cover.
with its two attachment screws.
attachment screws.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
Action
1.
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.
Note
Make sure the motor pinion does not
get damaged!
4 pcs: M8 x 25; tightening torque: 24
Nm.
Make sure the cover is tightly sealed!
Detailed in section
down test on page
Detailed in section
on page
Detailed in section
gearbox, axis 5 on page
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
tion.
DANGER - First test
33.
Note
Performing a leak-
188.
Refitting, wrist unit
254.
Oil change,
166.
Calibration informa-
Continues on next page
3HAC026876-001 Revision: C
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