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Equipment
Circuit diagram
Removal, motor axis 6
The procedure below details how to remove the motor, axis 6.
Refitting, motor axis 6
The procedure below details how to refit the motor, axis 6.
3HAC026876-001 Revision: C
Spare part no.
Action
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.
4. In order to release the brakes, connect the 24 VDC
power supply to the motor.
5. Unfasten the motor by unscrewing its three attachment
screws and washers.
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.
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.
2. Make sure the o-ring on the circumference of
the motor is seated properly. Ligthly lubricate
with grease.
4.6.8. Replacement of motor, axis 6, IRB 6640ID
Art. no.
Note
-
See chapter
the
information.
Note
Shown in the figure
of motor, axis 6 on page
Connect to connector
R3.MP6:
Dimensions of the tools are
specified in the figure
Removal tools, motor
attachment screws on page
334.
Note
The article numbers are specified in
Required equipment on page
4 Repair
Continued
Circuit diagram
in
Product manual, reference
Location
342.
•
+ : pin C
•
- : pin D
342.
Continues on next page
343
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