ABB IRB 6640 - 180/2.55 Product Manual page 310

4 Repair
4.6.2. Replacement of motor axis 2
Continued
10. Remove the motor by unscrewing its four
11. Fit the two guide pins in two of the motor
12. If required, press the motor out of position by fitting
13. Remove the removal tools and fit the lifting tool,
14. Lift the motor to get the pinion away from the gear. Make sure the motor pinion does
15. Remove the motor by gently lifting it straight out
Refitting, motor
The procedure below details how to refit the motor axis 2.
308
Action
8.
DANGER!
Secure the weight of the lower arm properly before
releasing the brakes of motor, axis 2!
When releasing the holding brakes of the motor,
the lower arm will be movable and may fall down!
9. In order to release the brake, connect the 24 VDC
power supply.
attachment screws and plain washers.
attachment holes.
the removal tool, motor to the remaining motor
attachment holes.
motor axis 2, 3, 4 to the motor.
and place it on a secure surface. 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. Lightly lubricate
the o-ring with grease.
3. In order to release the brake, remove the
cover on top of the motor and connect the 24
VDC power supply.
Note
Use the lock screw to lock the lower
arm, as detailed above!
Connect to connector R2.MP2
• +: pin 2
• -: pin 5
Art. no. is specified in
equipment on page 306.
Shown in the figure Location of
motor on page 306.
Art. no. is specified in
equipment on page 306.
Shown in the figure Location of
motor on page 306.
Always use the removal tools in
pairs!
Art. no. is specified in
equipment on page 306.
not get damaged!
Note
Art. no. is specified in Required
equipment on page 306.
Connect to connector R2.MP2
• +: pin 2
• -: pin5
Continues on next page
3HAC026876-001 Revision: C
Required
Required
Required